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<h1>xbee.c</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************************</span>
<a name="l00002"></a>00002 <span class="comment"></span>
<a name="l00003"></a>00003 <span class="comment"> Copyright 2006 MakingThings</span>
<a name="l00004"></a>00004 <span class="comment"></span>
<a name="l00005"></a>00005 <span class="comment"> Licensed under the Apache License, </span>
<a name="l00006"></a>00006 <span class="comment"> Version 2.0 (the "License"); you may not use this file except in compliance </span>
<a name="l00007"></a>00007 <span class="comment"> with the License. You may obtain a copy of the License at</span>
<a name="l00008"></a>00008 <span class="comment"></span>
<a name="l00009"></a>00009 <span class="comment"> http://www.apache.org/licenses/LICENSE-2.0 </span>
<a name="l00010"></a>00010 <span class="comment"> </span>
<a name="l00011"></a>00011 <span class="comment"> Unless required by applicable law or agreed to in writing, software distributed</span>
<a name="l00012"></a>00012 <span class="comment"> under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR</span>
<a name="l00013"></a>00013 <span class="comment"> CONDITIONS OF ANY KIND, either express or implied. See the License for</span>
<a name="l00014"></a>00014 <span class="comment"> the specific language governing permissions and limitations under the License.</span>
<a name="l00015"></a>00015 <span class="comment"></span>
<a name="l00016"></a>00016 <span class="comment">*********************************************************************************/</span>
<a name="l00017"></a>00017 <span class="preprocessor">#include "config.h"</span>
<a name="l00018"></a>00018 <span class="preprocessor">#ifdef XBEE</span>
<a name="l00019"></a>00019 <span class="preprocessor"></span>
<a name="l00020"></a>00020 <span class="preprocessor">#include "stdlib.h"</span>
<a name="l00021"></a>00021 <span class="preprocessor">#include &lt;stdio.h&gt;</span>
<a name="l00022"></a>00022 <span class="preprocessor">#include "string.h"</span>
<a name="l00023"></a>00023 <span class="preprocessor">#include "xbee.h"</span>
<a name="l00024"></a>00024 
<a name="l00025"></a>00025 <span class="keyword">static</span> <span class="keywordtype">bool</span> XBee_GetIOValues( XBeePacket* packet, <span class="keywordtype">int</span> *inputs );
<a name="l00026"></a>00026 <span class="keywordtype">void</span> XBeeTask( <span class="keywordtype">void</span>* p );
<a name="l00027"></a>00027 <span class="preprocessor">#define XBEEPACKET_Q_SIZE 5</span>
<a name="l00028"></a>00028 <span class="preprocessor"></span><span class="preprocessor">#define XBEE_OSC_RX_TIMEOUT 500</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span>
<a name="l00030"></a>00030 <span class="keyword">typedef</span> <span class="keyword">struct</span>
<a name="l00031"></a>00031 {
<a name="l00032"></a>00032   XBeePacket* currentPkt;
<a name="l00033"></a>00033   <span class="keywordtype">int</span> packetIndex;
<a name="l00034"></a>00034   <span class="keywordtype">bool</span> autosend;
<a name="l00035"></a>00035 } XBeeSubsystem;
<a name="l00036"></a>00036 
<a name="l00037"></a>00037 XBeeSubsystem* XBee;
<a name="l00038"></a>00038 <span class="comment"></span>
<a name="l00039"></a>00039 <span class="comment">/** \defgroup XBee</span>
<a name="l00040"></a>00040 <span class="comment">  Communicate with XBee (Zigbee) wireless modules via the Make Controller's serial port.</span>
<a name="l00041"></a>00041 <span class="comment">  </span>
<a name="l00042"></a>00042 <span class="comment">  XBee modules from \b MaxStream are small, cheap ($19 each), wireless \b RF (radio frequency) modules that</span>
<a name="l00043"></a>00043 <span class="comment">  can easily be used with the Make Controller Kit to create projects that require wireless communication.  Check</span>
<a name="l00044"></a>00044 <span class="comment">  http://www.maxstream.net/products/xbee/xbee-oem-rf-module-zigbee.php for more info.</span>
<a name="l00045"></a>00045 <span class="comment">  </span>
<a name="l00046"></a>00046 <span class="comment">  \section Overview</span>
<a name="l00047"></a>00047 <span class="comment">  XBee modules are &lt;b&gt;ZigBee/IEEE 802.15.4&lt;/b&gt; compliant and can operate in several modes:</span>
<a name="l00048"></a>00048 <span class="comment">  - Transparent serial port.  Messages in one side magically end up at the other endpoint.  Great for enabling wireless</span>
<a name="l00049"></a>00049 <span class="comment">  communication between 2 Make Controllers.</span>
<a name="l00050"></a>00050 <span class="comment">  - AT command mode.  Send traditional AT commands to configure the module itself (as opposed to having</span>
<a name="l00051"></a>00051 <span class="comment">  the data go straight through via serial mode.</span>
<a name="l00052"></a>00052 <span class="comment">  - Packet (API) mode.  Lower level communication that doesn't have to wait for the module to be in</span>
<a name="l00053"></a>00053 <span class="comment">  AT command mode.  Check the \ref XBeePacketTypes for a description of how these packets are laid out.  </span>
<a name="l00054"></a>00054 <span class="comment">  Be sure to call XBeeConfig_SetPacketApiMode before trying to do anything in this mode.</span>
<a name="l00055"></a>00055 <span class="comment"></span>
<a name="l00056"></a>00056 <span class="comment">  The general idea is that you have one XBee module connected directly to your Make Controller Kit, and then</span>
<a name="l00057"></a>00057 <span class="comment">  any number of other XBee modules that can communicate with it in order to get information to and from the</span>
<a name="l00058"></a>00058 <span class="comment">  Make Controller.  Or, several Make Controllers can each have an XBee module connected in order to</span>
<a name="l00059"></a>00059 <span class="comment">  communicate wirelessly among themselves.</span>
<a name="l00060"></a>00060 <span class="comment"></span>
<a name="l00061"></a>00061 <span class="comment">  XBee modules also have some digital and analog I/O right on them, which means you can directly connect</span>
<a name="l00062"></a>00062 <span class="comment">  sensors to the XBee modules which will both read the values and send them wirelessly.  Check the XBee doc</span>
<a name="l00063"></a>00063 <span class="comment">  for the appropriate commands to send in order to set this up.</span>
<a name="l00064"></a>00064 <span class="comment"></span>
<a name="l00065"></a>00065 <span class="comment">  \section API</span>
<a name="l00066"></a>00066 <span class="comment">  The Make Controller API for working with the XBee modules makes use of the XBee Packet API.  If you simply want to make use</span>
<a name="l00067"></a>00067 <span class="comment">  of the transparent serial port functionality, you don't need to deal with any of this - simply hook up the module to</span>
<a name="l00068"></a>00068 <span class="comment">  your Make Controller and start reading and writing over the serial port.</span>
<a name="l00069"></a>00069 <span class="comment"></span>
<a name="l00070"></a>00070 <span class="comment">  The XBee Packet API allows for much more flexible and powerful communication with the modules.  It uses AT commands to </span>
<a name="l00071"></a>00071 <span class="comment">  configure the XBee module itself, and then a handful of Zigbee specified packet types can be sent and received.  </span>
<a name="l00072"></a>00072 <span class="comment">  See \ref XBeePacketTypes for details on these packet types.  </span>
<a name="l00073"></a>00073 <span class="comment">  </span>
<a name="l00074"></a>00074 <span class="comment">  The \b XBeeConfig_ functions are convenient wrappers around some of the most common AT commands you might want to send.  For</span>
<a name="l00075"></a>00075 <span class="comment">  any of the other AT commands, check the XBee documentation and create them using XBee_CreateATCommandPacket( ).  These will always </span>
<a name="l00076"></a>00076 <span class="comment">  be send to the XBee module attached to the Make Controller.  The \b XBee_ functions deal with sending and receiving </span>
<a name="l00077"></a>00077 <span class="comment">  messages to other XBee modules not connected to the Make Controller.</span>
<a name="l00078"></a>00078 <span class="comment"></span>
<a name="l00079"></a>00079 <span class="comment">  \ingroup Controller</span>
<a name="l00080"></a>00080 <span class="comment">  @{</span>
<a name="l00081"></a>00081 <span class="comment">*/</span>
<a name="l00082"></a>00082 <span class="comment"></span>
<a name="l00083"></a>00083 <span class="comment">/** </span>
<a name="l00084"></a>00084 <span class="comment">  Controls the active state of the \b XBee subsystem</span>
<a name="l00085"></a>00085 <span class="comment">  @param state Whether this subsystem is active or not</span>
<a name="l00086"></a>00086 <span class="comment">  @return Zero on success.</span>
<a name="l00087"></a>00087 <span class="comment">*/</span>
<a name="l00088"></a><a class="code" href="group___x_bee.html#gf99a020a130eed99733b529b8cdb84a8">00088</a> <span class="keywordtype">int</span> <a class="code" href="group___x_bee.html#gf99a020a130eed99733b529b8cdb84a8" title="Controls the active state of the XBee subsystem.">XBee_SetActive</a>( <span class="keywordtype">int</span> state )
<a name="l00089"></a>00089 {
<a name="l00090"></a>00090   <span class="keywordflow">if</span>( state ) 
<a name="l00091"></a>00091   { 
<a name="l00092"></a>00092     <span class="keywordflow">if</span>( XBee == NULL )
<a name="l00093"></a>00093     {
<a name="l00094"></a>00094       <span class="keywordflow">if</span>( <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> != <a class="code" href="group__serial.html#g9193106181ca33626bd405a1f0434ee6" title="Set the active state of the Serial subsystem.">Serial_SetActive</a>( 1 ) )
<a name="l00095"></a>00095         <span class="keywordflow">return</span> <a class="code" href="group___error.html#g11e238ec8f200a9a39f8f9ad077c7229" title="Couldn&amp;#39;t complete operation because the subsystem is inactive.">CONTROLLER_ERROR_SUBSYSTEM_INACTIVE</a>;
<a name="l00096"></a>00096 
<a name="l00097"></a>00097       XBee = <a class="code" href="group___utils.html#g95923aa748602fa0330903fca05ca892" title="Same as Malloc, but keeps trying until it succeeds.">MallocWait</a>( <span class="keyword">sizeof</span>( XBeeSubsystem ), 100 );
<a name="l00098"></a>00098       XBee-&gt;packetIndex = 0;
<a name="l00099"></a>00099       XBee-&gt;autosend = XBee_GetAutoSend( <span class="keyword">true</span> );
<a name="l00100"></a>00100       XBee-&gt;currentPkt = <a class="code" href="group___utils.html#g95923aa748602fa0330903fca05ca892" title="Same as Malloc, but keeps trying until it succeeds.">MallocWait</a>( <span class="keyword">sizeof</span>( XBeePacket ), 100 );
<a name="l00101"></a>00101       <a class="code" href="group___x_bee.html#g066e28d0aaafb23eb1171bcdb31e5c45" title="Initialize a packet before reading into it.">XBee_ResetPacket</a>( XBee-&gt;currentPkt );
<a name="l00102"></a>00102     }
<a name="l00103"></a>00103   }
<a name="l00104"></a>00104   <span class="keywordflow">else</span>
<a name="l00105"></a>00105   {
<a name="l00106"></a>00106     <a class="code" href="group__serial.html#g9193106181ca33626bd405a1f0434ee6" title="Set the active state of the Serial subsystem.">Serial_SetActive</a>( 0 );
<a name="l00107"></a>00107 
<a name="l00108"></a>00108     <span class="keywordflow">if</span>( XBee )
<a name="l00109"></a>00109     {
<a name="l00110"></a>00110       <a class="code" href="group___utils.html#g6b0be54448d6ce393134400f4b22fa97" title="Free memory from the heap.">Free</a>( XBee );
<a name="l00111"></a>00111       XBee = NULL;
<a name="l00112"></a>00112     }
<a name="l00113"></a>00113   }
<a name="l00114"></a>00114   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00115"></a>00115 }
<a name="l00116"></a>00116 <span class="comment"></span>
<a name="l00117"></a>00117 <span class="comment">/** </span>
<a name="l00118"></a>00118 <span class="comment">  Read the active state of the \b XBee subsystem</span>
<a name="l00119"></a>00119 <span class="comment">  @return An integer specifying the active state - 1 (active) or 0 (inactive).</span>
<a name="l00120"></a>00120 <span class="comment">*/</span>
<a name="l00121"></a><a class="code" href="group___x_bee.html#gb9837489c49f82e3ca25f0da44c58a13">00121</a> <span class="keywordtype">int</span> <a class="code" href="group___x_bee.html#gb9837489c49f82e3ca25f0da44c58a13" title="Read the active state of the XBee subsystem.">XBee_GetActive</a>( )
<a name="l00122"></a>00122 {
<a name="l00123"></a>00123   <span class="keywordflow">return</span> <a class="code" href="group__serial.html#gcce26617c8506ce4194adefd107f93a2" title="Read the active state of the Serial subsystem.">Serial_GetActive</a>( );
<a name="l00124"></a>00124 }
<a name="l00125"></a>00125 <span class="comment"></span>
<a name="l00126"></a>00126 <span class="comment">/** </span>
<a name="l00127"></a>00127 <span class="comment">  Receive an incoming XBee packet.</span>
<a name="l00128"></a>00128 <span class="comment">  A single call to this will continue to read from the serial port as long as there are characters </span>
<a name="l00129"></a>00129 <span class="comment">  to read or until it times out.  If a packet has not been completely received, call it repeatedly</span>
<a name="l00130"></a>00130 <span class="comment">  with the same packet.</span>
<a name="l00131"></a>00131 <span class="comment"></span>
<a name="l00132"></a>00132 <span class="comment">  Clear out a packet before reading into it with a call to XBee_ResetPacket( )</span>
<a name="l00133"></a>00133 <span class="comment">  @param packet The XBeePacket to receive into.</span>
<a name="l00134"></a>00134 <span class="comment">  @param timeout The number of milliseconds to wait for a packet to arrive.  Set this to 0 to return as</span>
<a name="l00135"></a>00135 <span class="comment">  soon as there are no characters left to process.</span>
<a name="l00136"></a>00136 <span class="comment">  @return 1 if a complete packet has been received, 0 if not.</span>
<a name="l00137"></a>00137 <span class="comment">  @see XBeeConfig_SetPacketApiMode( )</span>
<a name="l00138"></a>00138 <span class="comment"></span>
<a name="l00139"></a>00139 <span class="comment">  \par Example</span>
<a name="l00140"></a>00140 <span class="comment">  \code</span>
<a name="l00141"></a>00141 <span class="comment">  // we're inside a task here...</span>
<a name="l00142"></a>00142 <span class="comment">  XBeePacket myPacket;</span>
<a name="l00143"></a>00143 <span class="comment">  XBee_ResetPacket( &amp;myPacket );</span>
<a name="l00144"></a>00144 <span class="comment">  while( 1 )</span>
<a name="l00145"></a>00145 <span class="comment">  {</span>
<a name="l00146"></a>00146 <span class="comment">    if( XBee_GetPacket( &amp;myPacket, 100 ) )</span>
<a name="l00147"></a>00147 <span class="comment">    {</span>
<a name="l00148"></a>00148 <span class="comment">      // process the new packet</span>
<a name="l00149"></a>00149 <span class="comment">      XBee_ResetPacket( &amp;myPacket ); // then clear it out before reading again</span>
<a name="l00150"></a>00150 <span class="comment">    }</span>
<a name="l00151"></a>00151 <span class="comment">    Sleep( 10 );</span>
<a name="l00152"></a>00152 <span class="comment">  }</span>
<a name="l00153"></a>00153 <span class="comment">  \endcode</span>
<a name="l00154"></a>00154 <span class="comment">*/</span>
<a name="l00155"></a><a class="code" href="group___x_bee.html#gb6f350a2b5dea977c3ab6244e4984833">00155</a> <span class="keywordtype">int</span> <a class="code" href="group___x_bee.html#gb6f350a2b5dea977c3ab6244e4984833" title="Receive an incoming XBee packet.">XBee_GetPacket</a>( XBeePacket* packet, <span class="keywordtype">int</span> timeout )
<a name="l00156"></a>00156 {
<a name="l00157"></a>00157   <span class="keywordflow">if</span>( <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> != <a class="code" href="group___x_bee.html#gf99a020a130eed99733b529b8cdb84a8" title="Controls the active state of the XBee subsystem.">XBee_SetActive</a>( 1 ) )
<a name="l00158"></a>00158     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g11e238ec8f200a9a39f8f9ad077c7229" title="Couldn&amp;#39;t complete operation because the subsystem is inactive.">CONTROLLER_ERROR_SUBSYSTEM_INACTIVE</a>;
<a name="l00159"></a>00159 
<a name="l00160"></a>00160   <span class="keywordtype">int</span> time = <a class="code" href="group___tasks.html#gc899bfb04919f3af158289bdcb2901de" title="Returns the number of ticks since the scheduler started.">TaskGetTickCount</a>( );
<a name="l00161"></a>00161 
<a name="l00162"></a>00162   <span class="keywordflow">do</span>
<a name="l00163"></a>00163   {
<a name="l00164"></a>00164     <span class="keywordflow">while</span>( <a class="code" href="group__serial.html#g8b7ec06170daf2e6d0b792fc47c1813f" title="Returns the number of bytes in the queue waiting to be read.">Serial_GetReadable</a>( ) )
<a name="l00165"></a>00165     {
<a name="l00166"></a>00166       <span class="keywordtype">int</span> newChar = <a class="code" href="group__serial.html#g476bb22eb20b7b24c418182077c103bd" title="Returns a single character from the receive queue if available.">Serial_GetChar</a>( );
<a name="l00167"></a>00167       <span class="keywordflow">if</span>( newChar == -1 )
<a name="l00168"></a>00168         <span class="keywordflow">break</span>;
<a name="l00169"></a>00169   
<a name="l00170"></a>00170       <span class="keywordflow">if</span>( newChar == XBEE_PACKET_STARTBYTE &amp;&amp; packet-&gt;rxState != XBEE_PACKET_RX_START )
<a name="l00171"></a>00171         <a class="code" href="group___x_bee.html#g066e28d0aaafb23eb1171bcdb31e5c45" title="Initialize a packet before reading into it.">XBee_ResetPacket</a>( packet ); <span class="comment">// in case we get into a weird state</span>
<a name="l00172"></a>00172   
<a name="l00173"></a>00173       <span class="keywordflow">switch</span>( packet-&gt;rxState )
<a name="l00174"></a>00174       {
<a name="l00175"></a>00175         <span class="keywordflow">case</span> XBEE_PACKET_RX_START:
<a name="l00176"></a>00176           <span class="keywordflow">if</span>( newChar == XBEE_PACKET_STARTBYTE )
<a name="l00177"></a>00177             packet-&gt;rxState = XBEE_PACKET_RX_LENGTH_1;
<a name="l00178"></a>00178           <span class="keywordflow">break</span>;
<a name="l00179"></a>00179         <span class="keywordflow">case</span> XBEE_PACKET_RX_LENGTH_1:
<a name="l00180"></a>00180           packet-&gt;length = newChar;
<a name="l00181"></a>00181           packet-&gt;length &lt;&lt;= 8;
<a name="l00182"></a>00182           packet-&gt;rxState = XBEE_PACKET_RX_LENGTH_2;
<a name="l00183"></a>00183           <span class="keywordflow">break</span>;
<a name="l00184"></a>00184         <span class="keywordflow">case</span> XBEE_PACKET_RX_LENGTH_2:
<a name="l00185"></a>00185           packet-&gt;length += newChar;
<a name="l00186"></a>00186           <span class="keywordflow">if</span>( packet-&gt;length &gt; XBEE_MAX_PACKET_SIZE ) <span class="comment">// in case we somehow get some garbage</span>
<a name="l00187"></a>00187             packet-&gt;length = XBEE_MAX_PACKET_SIZE;
<a name="l00188"></a>00188           packet-&gt;rxState = XBEE_PACKET_RX_PAYLOAD;
<a name="l00189"></a>00189           <span class="keywordflow">break</span>;
<a name="l00190"></a>00190         <span class="keywordflow">case</span> XBEE_PACKET_RX_PAYLOAD:
<a name="l00191"></a>00191           *packet-&gt;dataPtr++ = newChar;
<a name="l00192"></a>00192           <span class="keywordflow">if</span>( ++packet-&gt;index &gt;= packet-&gt;length )
<a name="l00193"></a>00193             packet-&gt;rxState = XBEE_PACKET_RX_CRC;
<a name="l00194"></a>00194           packet-&gt;crc += newChar;
<a name="l00195"></a>00195           <span class="keywordflow">break</span>;
<a name="l00196"></a>00196         <span class="keywordflow">case</span> XBEE_PACKET_RX_CRC:
<a name="l00197"></a>00197           packet-&gt;crc += newChar;
<a name="l00198"></a>00198           packet-&gt;rxState = XBEE_PACKET_RX_START;
<a name="l00199"></a>00199           <span class="keywordflow">if</span>( packet-&gt;crc == 0xFF )
<a name="l00200"></a>00200             <span class="keywordflow">return</span> 1;
<a name="l00201"></a>00201           <span class="keywordflow">else</span>
<a name="l00202"></a>00202           {
<a name="l00203"></a>00203             <a class="code" href="group___x_bee.html#g066e28d0aaafb23eb1171bcdb31e5c45" title="Initialize a packet before reading into it.">XBee_ResetPacket</a>( packet );
<a name="l00204"></a>00204             <span class="keywordflow">return</span> 0;
<a name="l00205"></a>00205           }
<a name="l00206"></a>00206       }
<a name="l00207"></a>00207     }
<a name="l00208"></a>00208     <a class="code" href="group___tasks.html#g9a64a7c0e24f257826103d1d1bbb44fa" title="Put a task to sleep for a given number of milliseconds.">Sleep</a>( 1 );
<a name="l00209"></a>00209   } <span class="keywordflow">while</span>( <a class="code" href="group___tasks.html#gc899bfb04919f3af158289bdcb2901de" title="Returns the number of ticks since the scheduler started.">TaskGetTickCount</a>( ) - time &lt; timeout );
<a name="l00210"></a>00210   <span class="keywordflow">return</span> 0;
<a name="l00211"></a>00211 }
<a name="l00212"></a>00212 <span class="comment"></span>
<a name="l00213"></a>00213 <span class="comment">/** </span>
<a name="l00214"></a>00214 <span class="comment">  Send an XBee packet.</span>
<a name="l00215"></a>00215 <span class="comment">  Use the following functions to create packets to be sent:</span>
<a name="l00216"></a>00216 <span class="comment">  - XBee_CreateTX16Packet( ) - create a data packet to be sent out wirelessly with a 16-bit address</span>
<a name="l00217"></a>00217 <span class="comment">  - XBee_CreateTX64Packet( ) - create a data packet to be sent out wirelessly with a 64-bit address</span>
<a name="l00218"></a>00218 <span class="comment">  - XBee_CreateATCommandPacket( ) - create an AT command to configure an attached XBee module</span>
<a name="l00219"></a>00219 <span class="comment">  @param packet The XBeePacket to send.</span>
<a name="l00220"></a>00220 <span class="comment">  @param datalength The length of the actual data being sent (not including headers, options, etc.)</span>
<a name="l00221"></a>00221 <span class="comment">  @return Zero on success.</span>
<a name="l00222"></a>00222 <span class="comment">  @see XBeeConfig_SetPacketApiMode( )</span>
<a name="l00223"></a>00223 <span class="comment"></span>
<a name="l00224"></a>00224 <span class="comment">  \par Example</span>
<a name="l00225"></a>00225 <span class="comment">  \code</span>
<a name="l00226"></a>00226 <span class="comment">  XBeePacket txPacket;</span>
<a name="l00227"></a>00227 <span class="comment">  uint8 data[] = "ABC"; // 3 bytes of data</span>
<a name="l00228"></a>00228 <span class="comment">  XBee_CreateTX16Packet( &amp;txPacket, 0, 0, 0, data, 3 );</span>
<a name="l00229"></a>00229 <span class="comment">  XBee_SendPacket( &amp;txPacket, 3 );</span>
<a name="l00230"></a>00230 <span class="comment">  \endcode</span>
<a name="l00231"></a>00231 <span class="comment">*/</span>
<a name="l00232"></a><a class="code" href="group___x_bee.html#g88dd9f12ff38f318e59ec8e8283a78d3">00232</a> <span class="keywordtype">int</span> <a class="code" href="group___x_bee.html#g88dd9f12ff38f318e59ec8e8283a78d3" title="Send an XBee packet.">XBee_SendPacket</a>( XBeePacket* packet, <span class="keywordtype">int</span> datalength )
<a name="l00233"></a>00233 {
<a name="l00234"></a>00234   <span class="keywordflow">if</span>( <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> != <a class="code" href="group___x_bee.html#gf99a020a130eed99733b529b8cdb84a8" title="Controls the active state of the XBee subsystem.">XBee_SetActive</a>( 1 ) )
<a name="l00235"></a>00235     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g11e238ec8f200a9a39f8f9ad077c7229" title="Couldn&amp;#39;t complete operation because the subsystem is inactive.">CONTROLLER_ERROR_SUBSYSTEM_INACTIVE</a>;
<a name="l00236"></a>00236   
<a name="l00237"></a>00237   <a class="code" href="group__serial.html#g656fe7020d5e9d1218ceb6d805c1a0ea" title="Sends a character (in the range of 0 to 255) to the write queue.">Serial_SetChar</a>( XBEE_PACKET_STARTBYTE );
<a name="l00238"></a>00238   <span class="keywordtype">int</span> size = datalength;
<a name="l00239"></a>00239   <span class="keywordflow">switch</span>( packet-&gt;apiId )
<a name="l00240"></a>00240   {
<a name="l00241"></a>00241     <span class="keywordflow">case</span> XBEE_TX64: <span class="comment">//account for apiId, frameId, 8 bytes destination, and options</span>
<a name="l00242"></a>00242       size += 11;
<a name="l00243"></a>00243       <span class="keywordflow">break</span>;
<a name="l00244"></a>00244     <span class="keywordflow">case</span> XBEE_TX16: <span class="comment">//account for apiId, frameId, 2 bytes destination, and options</span>
<a name="l00245"></a>00245       size += 5; 
<a name="l00246"></a>00246       <span class="keywordflow">break</span>;
<a name="l00247"></a>00247     <span class="keywordflow">case</span> XBEE_ATCOMMAND: <span class="comment">// length = API ID + Frame ID, + AT Command (+ Parameter Value)</span>
<a name="l00248"></a>00248       size = (datalength &gt; 0) ? 8 : 4; <span class="comment">// if we're writing, there are 4 bytes of data, otherwise, just the length above</span>
<a name="l00249"></a>00249       <span class="keywordflow">break</span>;
<a name="l00250"></a>00250     <span class="keywordflow">default</span>:
<a name="l00251"></a>00251       size = 0;
<a name="l00252"></a>00252       <span class="keywordflow">break</span>;
<a name="l00253"></a>00253   }
<a name="l00254"></a>00254 
<a name="l00255"></a>00255   <a class="code" href="group__serial.html#g656fe7020d5e9d1218ceb6d805c1a0ea" title="Sends a character (in the range of 0 to 255) to the write queue.">Serial_SetChar</a>( (size &gt;&gt; 8) &amp; 0xFF ); <span class="comment">// send the most significant bit</span>
<a name="l00256"></a>00256   <a class="code" href="group__serial.html#g656fe7020d5e9d1218ceb6d805c1a0ea" title="Sends a character (in the range of 0 to 255) to the write queue.">Serial_SetChar</a>( size &amp; 0xFF ); <span class="comment">// then the LSB</span>
<a name="l00257"></a>00257   packet-&gt;crc = 0; <span class="comment">// just in case it hasn't been initialized.</span>
<a name="l00258"></a>00258   uint8* p = (uint8*)packet;
<a name="l00259"></a>00259   <span class="keywordflow">while</span>( size-- )
<a name="l00260"></a>00260   {
<a name="l00261"></a>00261     <a class="code" href="group__serial.html#g656fe7020d5e9d1218ceb6d805c1a0ea" title="Sends a character (in the range of 0 to 255) to the write queue.">Serial_SetChar</a>( *p );
<a name="l00262"></a>00262     packet-&gt;crc += *p++;
<a name="l00263"></a>00263   }
<a name="l00264"></a>00264   <span class="comment">//uint8 test = 0xFF - packet-&gt;crc;</span>
<a name="l00265"></a>00265   <a class="code" href="group__serial.html#g656fe7020d5e9d1218ceb6d805c1a0ea" title="Sends a character (in the range of 0 to 255) to the write queue.">Serial_SetChar</a>( 0xFF - packet-&gt;crc );
<a name="l00266"></a>00266   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00267"></a>00267 }
<a name="l00268"></a>00268 <span class="comment"></span>
<a name="l00269"></a>00269 <span class="comment">/** </span>
<a name="l00270"></a>00270 <span class="comment">  Initialize a packet before reading into it.</span>
<a name="l00271"></a>00271 <span class="comment">  @param packet The XBeePacket to initialize.</span>
<a name="l00272"></a>00272 <span class="comment">  @see XBee_GetPacket( )</span>
<a name="l00273"></a>00273 <span class="comment">*/</span>
<a name="l00274"></a><a class="code" href="group___x_bee.html#g066e28d0aaafb23eb1171bcdb31e5c45">00274</a> <span class="keywordtype">void</span> <a class="code" href="group___x_bee.html#g066e28d0aaafb23eb1171bcdb31e5c45" title="Initialize a packet before reading into it.">XBee_ResetPacket</a>( XBeePacket* packet )
<a name="l00275"></a>00275 {
<a name="l00276"></a>00276   packet-&gt;dataPtr = (uint8*)packet;
<a name="l00277"></a>00277   packet-&gt;crc = 0;
<a name="l00278"></a>00278   packet-&gt;rxState = XBEE_PACKET_RX_START;
<a name="l00279"></a>00279   packet-&gt;length = 0;
<a name="l00280"></a>00280   packet-&gt;index = 0;
<a name="l00281"></a>00281   packet-&gt;apiId = 0;
<a name="l00282"></a>00282 }
<a name="l00283"></a>00283 <span class="comment"></span>
<a name="l00284"></a>00284 <span class="comment">/** </span>
<a name="l00285"></a>00285 <span class="comment">  Set a module into packet API mode.  </span>
<a name="l00286"></a>00286 <span class="comment">  XBee modules are in transparent serial port mode by default.  This allows you to work with them</span>
<a name="l00287"></a>00287 <span class="comment">  via the packet API.</span>
<a name="l00288"></a>00288 <span class="comment"></span>
<a name="l00289"></a>00289 <span class="comment">  When setting this on, the XBee module needs to wait 1 second after sending the command sequence before it's </span>
<a name="l00290"></a>00290 <span class="comment">  ready to receive any AT commands - this function will block for that amount of time.  Once you turn it off,</span>
<a name="l00291"></a>00291 <span class="comment">  you won't get any responses to packets you send the module until you turn packet mode on again.</span>
<a name="l00292"></a>00292 <span class="comment">  @param value 1 to turn packet mode on, 0 to turn it off.</span>
<a name="l00293"></a>00293 <span class="comment">  </span>
<a name="l00294"></a>00294 <span class="comment">  \par Example</span>
<a name="l00295"></a>00295 <span class="comment">  \code</span>
<a name="l00296"></a>00296 <span class="comment">  MyTask( void * p )</span>
<a name="l00297"></a>00297 <span class="comment">  {</span>
<a name="l00298"></a>00298 <span class="comment">    XBeeConfig_SetPacketApiMode( 1 ); // initialize the module to be in API mode</span>
<a name="l00299"></a>00299 <span class="comment">    while( 1 )</span>
<a name="l00300"></a>00300 <span class="comment">    {</span>
<a name="l00301"></a>00301 <span class="comment">      // your task here.</span>
<a name="l00302"></a>00302 <span class="comment">    }</span>
<a name="l00303"></a>00303 <span class="comment">  }</span>
<a name="l00304"></a>00304 <span class="comment">  \endcode</span>
<a name="l00305"></a>00305 <span class="comment">*/</span>
<a name="l00306"></a><a class="code" href="group___x_bee.html#gb3abc9b61091749d5aa7a48e8aa35e18">00306</a> <span class="keywordtype">void</span> <a class="code" href="group___x_bee.html#gb3abc9b61091749d5aa7a48e8aa35e18" title="Set a module into packet API mode.">XBeeConfig_SetPacketApiMode</a>( <span class="keywordtype">int</span> value )
<a name="l00307"></a>00307 {
<a name="l00308"></a>00308   <span class="keywordflow">if</span>( <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> != <a class="code" href="group___x_bee.html#gf99a020a130eed99733b529b8cdb84a8" title="Controls the active state of the XBee subsystem.">XBee_SetActive</a>( 1 ) )
<a name="l00309"></a>00309     <span class="keywordflow">return</span>;
<a name="l00310"></a>00310   
<a name="l00311"></a>00311   <span class="keywordflow">if</span>( value )
<a name="l00312"></a>00312   {
<a name="l00313"></a>00313     <span class="keywordtype">char</span> buf[50];
<a name="l00314"></a>00314     snprintf( buf, 50, <span class="stringliteral">"+++"</span> ); <span class="comment">// enter command mode</span>
<a name="l00315"></a>00315     <a class="code" href="group__serial.html#ga84bc3522badbcf45ad97e7a0320c54e" title="Write a block of data to the Serial port.">Serial_Write</a>( (uchar*)buf, strlen(buf), 0 );
<a name="l00316"></a>00316     <a class="code" href="group___tasks.html#g9a64a7c0e24f257826103d1d1bbb44fa" title="Put a task to sleep for a given number of milliseconds.">Sleep</a>( 1025 ); <span class="comment">// have to wait one second after +++ to actually get set to receive in AT mode</span>
<a name="l00317"></a>00317     snprintf( buf, 50, <span class="stringliteral">"ATAP %x,CN\r"</span>, 1 ); <span class="comment">// turn API mode on, and leave command mode</span>
<a name="l00318"></a>00318     <a class="code" href="group__serial.html#ga84bc3522badbcf45ad97e7a0320c54e" title="Write a block of data to the Serial port.">Serial_Write</a>( (uchar*)buf, strlen(buf), 0 );
<a name="l00319"></a>00319   }
<a name="l00320"></a>00320   <span class="keywordflow">else</span>
<a name="l00321"></a>00321   {
<a name="l00322"></a>00322     XBeePacket xbp;
<a name="l00323"></a>00323     uint8 params[4];
<a name="l00324"></a>00324     memset( params, 0, 4 );
<a name="l00325"></a>00325     <a class="code" href="group___x_bee.html#g2c4ec9c048a04f7d7b46850377e51008" title="A convenience function for creating an AT command packet.">XBee_CreateATCommandPacket</a>( &amp;xbp, 0, <span class="stringliteral">"AP"</span>, params, 4 );
<a name="l00326"></a>00326     <a class="code" href="group___x_bee.html#g88dd9f12ff38f318e59ec8e8283a78d3" title="Send an XBee packet.">XBee_SendPacket</a>( &amp;xbp, 4 );
<a name="l00327"></a>00327   }
<a name="l00328"></a>00328 }
<a name="l00329"></a>00329 <span class="comment"></span>
<a name="l00330"></a>00330 <span class="comment">/** </span>
<a name="l00331"></a>00331 <span class="comment">  Query whether the module is in API mode.</span>
<a name="l00332"></a>00332 <span class="comment">  This will block for up to a 1/2 second waiting for a response from the XBee module.</span>
<a name="l00333"></a>00333 <span class="comment">  @return 0 if off, 1 if enabled, 2 if enabled with escape characters.</span>
<a name="l00334"></a>00334 <span class="comment">  </span>
<a name="l00335"></a>00335 <span class="comment">  \par Example</span>
<a name="l00336"></a>00336 <span class="comment">  \code</span>
<a name="l00337"></a>00337 <span class="comment">  int mode = XBeeConfig_RequestPacketApiMode( );</span>
<a name="l00338"></a>00338 <span class="comment">  if( mode &gt;= 0 )</span>
<a name="l00339"></a>00339 <span class="comment">  {</span>
<a name="l00340"></a>00340 <span class="comment">    // then we have our mode</span>
<a name="l00341"></a>00341 <span class="comment">  }</span>
<a name="l00342"></a>00342 <span class="comment">  \endcode</span>
<a name="l00343"></a>00343 <span class="comment">*/</span>
<a name="l00344"></a><a class="code" href="group___x_bee.html#g5d8c12d4fba507727eded9aad78f5126">00344</a> <span class="keywordtype">int</span> <a class="code" href="group___x_bee.html#g5d8c12d4fba507727eded9aad78f5126" title="Query whether the module is in API mode.">XBeeConfig_RequestPacketApiMode</a>( )
<a name="l00345"></a>00345 {
<a name="l00346"></a>00346   XBeePacket xbp;
<a name="l00347"></a>00347   <a class="code" href="group___x_bee.html#g2c4ec9c048a04f7d7b46850377e51008" title="A convenience function for creating an AT command packet.">XBee_CreateATCommandPacket</a>( &amp;xbp, 0x52, <span class="stringliteral">"AP"</span>, NULL, 0 );
<a name="l00348"></a>00348   <a class="code" href="group___x_bee.html#g88dd9f12ff38f318e59ec8e8283a78d3" title="Send an XBee packet.">XBee_SendPacket</a>( &amp;xbp, 0 );
<a name="l00349"></a>00349   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00350"></a>00350 }
<a name="l00351"></a>00351 <span class="comment"></span>
<a name="l00352"></a>00352 <span class="comment">/** </span>
<a name="l00353"></a>00353 <span class="comment">  A convenience function for creating an AT command packet.</span>
<a name="l00354"></a>00354 <span class="comment">  As per the XBee spec, AT Command packets that want to set/write a value must have 4 bytes of data.  </span>
<a name="l00355"></a>00355 <span class="comment">  Packets that query the value of an AT parameter send 0 bytes of data.  Note that multi-byte</span>
<a name="l00356"></a>00356 <span class="comment">  data must be sent \b big-endian (most significant byte first) - see XBee_IntToBigEndianArray( ).</span>
<a name="l00357"></a>00357 <span class="comment">  </span>
<a name="l00358"></a>00358 <span class="comment">  Make sure you're in API mode before creating &amp; sending packets - see XBeeConfig_SetPacketApiMode( ).</span>
<a name="l00359"></a>00359 <span class="comment">  See the XBee documentation for the official list of AT commands that the XBee modules understand.</span>
<a name="l00360"></a>00360 <span class="comment">  @param packet The XBeePacket to create.</span>
<a name="l00361"></a>00361 <span class="comment">  @param frameID The frame ID for this packet that subsequent response/status messages can refer to.</span>
<a name="l00362"></a>00362 <span class="comment">  @param cmd The 2-character AT command.</span>
<a name="l00363"></a>00363 <span class="comment">  @param params A pointer to the buffer containing the data to be sent.</span>
<a name="l00364"></a>00364 <span class="comment">  @param datalength The number of bytes to send from the params buffer.</span>
<a name="l00365"></a>00365 <span class="comment">  @return An integer specifying the active state - 1 (active) or 0 (inactive).</span>
<a name="l00366"></a>00366 <span class="comment">  </span>
<a name="l00367"></a>00367 <span class="comment">  \par Example - Writing</span>
<a name="l00368"></a>00368 <span class="comment">  \code</span>
<a name="l00369"></a>00369 <span class="comment">  XBeePacket txPacket;</span>
<a name="l00370"></a>00370 <span class="comment">  uint8 params[4];</span>
<a name="l00371"></a>00371 <span class="comment">  XBee_IntToBigEndianArray( 1000, params ); // set our sampling rate to 1000</span>
<a name="l00372"></a>00372 <span class="comment">  XBee_CreateATCommandPacket( &amp;txPacket, 0, "IR", &amp;params, 4 ); // set the sampling rate of the IO pins</span>
<a name="l00373"></a>00373 <span class="comment">  XBee_SendPacket( &amp;txPacket, 4 );</span>
<a name="l00374"></a>00374 <span class="comment">  \endcode</span>
<a name="l00375"></a>00375 <span class="comment"></span>
<a name="l00376"></a>00376 <span class="comment">  \par Example - Reading</span>
<a name="l00377"></a>00377 <span class="comment">  \code</span>
<a name="l00378"></a>00378 <span class="comment">  XBeePacket txPacket;</span>
<a name="l00379"></a>00379 <span class="comment">  XBee_CreateATCommandPacket( &amp;txPacket, 0, "IR", NULL, 0 ); // query the sampling rate of the IO pins</span>
<a name="l00380"></a>00380 <span class="comment">  XBee_SendPacket( &amp;txPacket, 0 );</span>
<a name="l00381"></a>00381 <span class="comment">  // then we'll receive a response packet</span>
<a name="l00382"></a>00382 <span class="comment">  \endcode</span>
<a name="l00383"></a>00383 <span class="comment">*/</span>
<a name="l00384"></a><a class="code" href="group___x_bee.html#g2c4ec9c048a04f7d7b46850377e51008">00384</a> <span class="keywordtype">void</span> <a class="code" href="group___x_bee.html#g2c4ec9c048a04f7d7b46850377e51008" title="A convenience function for creating an AT command packet.">XBee_CreateATCommandPacket</a>( XBeePacket* packet, uint8 frameID, <span class="keywordtype">char</span>* cmd, uint8* params, uint8 datalength )
<a name="l00385"></a>00385 {
<a name="l00386"></a>00386   packet-&gt;apiId = XBEE_ATCOMMAND;
<a name="l00387"></a>00387   packet-&gt;atCommand.frameID = frameID;
<a name="l00388"></a>00388   uint8* p = packet-&gt;atCommand.command;
<a name="l00389"></a>00389   *p++ = *cmd++;
<a name="l00390"></a>00390   *p++ = *cmd;
<a name="l00391"></a>00391   p = packet-&gt;atCommand.parameters;
<a name="l00392"></a>00392   <span class="keywordflow">while</span>( datalength-- )
<a name="l00393"></a>00393     *p++ = *params++;
<a name="l00394"></a>00394 }
<a name="l00395"></a>00395 <span class="comment"></span>
<a name="l00396"></a>00396 <span class="comment">/** </span>
<a name="l00397"></a>00397 <span class="comment">  Query the address of the module.</span>
<a name="l00398"></a>00398 <span class="comment">  This will block for up to a 1/2 second waiting for a response from the XBee module.</span>
<a name="l00399"></a>00399 <span class="comment">  @return An integer corresponding to the address of the module, or negative number on failure.</span>
<a name="l00400"></a>00400 <span class="comment">  </span>
<a name="l00401"></a>00401 <span class="comment">  \par Example</span>
<a name="l00402"></a>00402 <span class="comment">  \code</span>
<a name="l00403"></a>00403 <span class="comment">  int address = XBeeConfig_RequestAddress( );</span>
<a name="l00404"></a>00404 <span class="comment">  if( address &gt;= 0 )</span>
<a name="l00405"></a>00405 <span class="comment">  {</span>
<a name="l00406"></a>00406 <span class="comment">    // then we have our address</span>
<a name="l00407"></a>00407 <span class="comment">  }</span>
<a name="l00408"></a>00408 <span class="comment">  \endcode</span>
<a name="l00409"></a>00409 <span class="comment">*/</span>
<a name="l00410"></a><a class="code" href="group___x_bee.html#g2f0a97c1a7ce219eb7ccd807e8a860e2">00410</a> <span class="keywordtype">int</span> <a class="code" href="group___x_bee.html#g2f0a97c1a7ce219eb7ccd807e8a860e2" title="Query the address of the module.">XBeeConfig_RequestATResponse</a>( <span class="keywordtype">char</span>* cmd )
<a name="l00411"></a>00411 {
<a name="l00412"></a>00412   XBeePacket xbp;
<a name="l00413"></a>00413   <a class="code" href="group___x_bee.html#g2c4ec9c048a04f7d7b46850377e51008" title="A convenience function for creating an AT command packet.">XBee_CreateATCommandPacket</a>( &amp;xbp, 0x52, cmd, NULL, 0 );
<a name="l00414"></a>00414   <a class="code" href="group___x_bee.html#g88dd9f12ff38f318e59ec8e8283a78d3" title="Send an XBee packet.">XBee_SendPacket</a>( &amp;xbp, 0 );
<a name="l00415"></a>00415   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00416"></a>00416 }
<a name="l00417"></a>00417 <span class="comment"></span>
<a name="l00418"></a>00418 <span class="comment">/** </span>
<a name="l00419"></a>00419 <span class="comment">  Configure the IO settings on an XBee module.</span>
<a name="l00420"></a>00420 <span class="comment">  IO pins can have one of 5 values:</span>
<a name="l00421"></a>00421 <span class="comment">  - \b XBEE_IO_DISABLED</span>
<a name="l00422"></a>00422 <span class="comment">  - \b XBEE_IO_ANALOGIN - Analog input (10-bit)</span>
<a name="l00423"></a>00423 <span class="comment">  - \b XBEE_IO_DIGITALIN - Digital input</span>
<a name="l00424"></a>00424 <span class="comment">  - \b XBEE_IO_DIGOUT_HIGH - Digital out high</span>
<a name="l00425"></a>00425 <span class="comment">  - \b XBEE_IO_DIGOUT_LOW - Digital out low</span>
<a name="l00426"></a>00426 <span class="comment">  @param pin An integer specifying which pin to configure. There are 9 IO pins (numbered 0-8) on the XBee modules.  </span>
<a name="l00427"></a>00427 <span class="comment">  Only channels 0-7 can be analog inputs - channel 8 can only operate as a digital in or out.</span>
<a name="l00428"></a>00428 <span class="comment">  @param value An int specifying the behavior of this pin (options shown above).</span>
<a name="l00429"></a>00429 <span class="comment">  \par Example</span>
<a name="l00430"></a>00430 <span class="comment">  \code</span>
<a name="l00431"></a>00431 <span class="comment">  // set channel 0 to analog in</span>
<a name="l00432"></a>00432 <span class="comment">  XBeeConfig_SetIO( 0, XBEE_IO_ANALOGIN );</span>
<a name="l00433"></a>00433 <span class="comment">  \endcode</span>
<a name="l00434"></a>00434 <span class="comment">*/</span>
<a name="l00435"></a><a class="code" href="group___x_bee.html#g2a1939254f9174e0ee2c33a4d2ff8ba3">00435</a> <span class="keywordtype">void</span> <a class="code" href="group___x_bee.html#g2a1939254f9174e0ee2c33a4d2ff8ba3" title="Configure the IO settings on an XBee module.">XBeeConfig_SetIO</a>( <span class="keywordtype">int</span> pin, <span class="keywordtype">int</span> value )
<a name="l00436"></a>00436 {
<a name="l00437"></a>00437   XBeePacket packet;
<a name="l00438"></a>00438   <a class="code" href="group___x_bee.html#g066e28d0aaafb23eb1171bcdb31e5c45" title="Initialize a packet before reading into it.">XBee_ResetPacket</a>( &amp;packet );
<a name="l00439"></a>00439   uint8 params[4];
<a name="l00440"></a>00440   <span class="keywordtype">char</span> cmd[2];
<a name="l00441"></a>00441   sprintf( cmd, <span class="stringliteral">"D%d"</span>, pin );
<a name="l00442"></a>00442   <a class="code" href="group___x_bee.html#gd357b57c2604013a69ec60e746318f89" title="Convert a 32-bit integer into a big endian array of 4 unsigned 8-bit integers.">XBee_IntToBigEndianArray</a>( value, params );
<a name="l00443"></a>00443   <a class="code" href="group___x_bee.html#g2c4ec9c048a04f7d7b46850377e51008" title="A convenience function for creating an AT command packet.">XBee_CreateATCommandPacket</a>( &amp;packet, 0, cmd, params, 4 );
<a name="l00444"></a>00444   <a class="code" href="group___x_bee.html#g88dd9f12ff38f318e59ec8e8283a78d3" title="Send an XBee packet.">XBee_SendPacket</a>( &amp;packet, 4 );
<a name="l00445"></a>00445 }
<a name="l00446"></a>00446 <span class="comment"></span>
<a name="l00447"></a>00447 <span class="comment">/** </span>
<a name="l00448"></a>00448 <span class="comment">  Query the configuration of an IO pin.</span>
<a name="l00449"></a>00449 <span class="comment">  See XBeeConfig_SetIO( ) for the possible return values.</span>
<a name="l00450"></a>00450 <span class="comment">  This will block for up to a 1/2 second waiting for a response from the XBee module.</span>
<a name="l00451"></a>00451 <span class="comment">  @return An integer corresponding to the config of the requested pin, or negative number on failure.</span>
<a name="l00452"></a>00452 <span class="comment">  </span>
<a name="l00453"></a>00453 <span class="comment">  \par Example</span>
<a name="l00454"></a>00454 <span class="comment">  \code</span>
<a name="l00455"></a>00455 <span class="comment">  int pin = XBeeConfig_RequestIO( 0 ); // request the configuration of pin 0</span>
<a name="l00456"></a>00456 <span class="comment">  if( pin &gt;= 0 )</span>
<a name="l00457"></a>00457 <span class="comment">  {</span>
<a name="l00458"></a>00458 <span class="comment">    // then we have our pin config</span>
<a name="l00459"></a>00459 <span class="comment">  }</span>
<a name="l00460"></a>00460 <span class="comment">  \endcode</span>
<a name="l00461"></a>00461 <span class="comment">*/</span>
<a name="l00462"></a><a class="code" href="group___x_bee.html#g471f419a8be85dff56cb190ac1122df3">00462</a> <span class="keywordtype">int</span> <a class="code" href="group___x_bee.html#g471f419a8be85dff56cb190ac1122df3" title="Query the configuration of an IO pin.">XBeeConfig_RequestIO</a>( <span class="keywordtype">int</span> pin )
<a name="l00463"></a>00463 {
<a name="l00464"></a>00464   XBeePacket xbp;
<a name="l00465"></a>00465   <span class="keywordtype">char</span> cmd[2];
<a name="l00466"></a>00466   sprintf( cmd, <span class="stringliteral">"D%d"</span>, pin );
<a name="l00467"></a>00467   <a class="code" href="group___x_bee.html#g2c4ec9c048a04f7d7b46850377e51008" title="A convenience function for creating an AT command packet.">XBee_CreateATCommandPacket</a>( &amp;xbp, 0x52, cmd, NULL, 0 );
<a name="l00468"></a>00468   <a class="code" href="group___x_bee.html#g88dd9f12ff38f318e59ec8e8283a78d3" title="Send an XBee packet.">XBee_SendPacket</a>( &amp;xbp, 0 );
<a name="l00469"></a>00469   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00470"></a>00470 }
<a name="l00471"></a>00471 <span class="comment"></span>
<a name="l00472"></a>00472 <span class="comment">/** </span>
<a name="l00473"></a>00473 <span class="comment">  Create a packet to be transmitted with a 16-bit address.</span>
<a name="l00474"></a>00474 <span class="comment">  If the \b frameID is 0, you won't receive a TX Status message in response.</span>
<a name="l00475"></a>00475 <span class="comment"></span>
<a name="l00476"></a>00476 <span class="comment">  @param xbp The XBeePacket to create.</span>
<a name="l00477"></a>00477 <span class="comment">  @param frameID The frame ID for this packet that subsequent response/status messages can refer to.</span>
<a name="l00478"></a>00478 <span class="comment">  @param destination The destination address for this packet.</span>
<a name="l00479"></a>00479 <span class="comment">  @param options The XBee options for this packet (0 if none).</span>
<a name="l00480"></a>00480 <span class="comment">  @param data A pointer to the data to be sent in this packet.</span>
<a name="l00481"></a>00481 <span class="comment">  @param datalength The number of bytes of data to be sent.</span>
<a name="l00482"></a>00482 <span class="comment">  @return True on success, false on failure.</span>
<a name="l00483"></a>00483 <span class="comment">  </span>
<a name="l00484"></a>00484 <span class="comment">  \par Example</span>
<a name="l00485"></a>00485 <span class="comment">  \code</span>
<a name="l00486"></a>00486 <span class="comment">  XBeePacket txPacket;</span>
<a name="l00487"></a>00487 <span class="comment">  uint8 data[] = "ABC";</span>
<a name="l00488"></a>00488 <span class="comment">  XBee_CreateTX16Packet( &amp;txPacket, 0x52, 0, 0, data, 3 );</span>
<a name="l00489"></a>00489 <span class="comment">  XBee_SendPacket( &amp;txPacket, 3 );</span>
<a name="l00490"></a>00490 <span class="comment">  \endcode</span>
<a name="l00491"></a>00491 <span class="comment">*/</span>
<a name="l00492"></a><a class="code" href="group___x_bee.html#g64d16869ea926373568cc1c09c53b0fa">00492</a> <span class="keywordtype">bool</span> <a class="code" href="group___x_bee.html#g64d16869ea926373568cc1c09c53b0fa" title="Create a packet to be transmitted with a 16-bit address.">XBee_CreateTX16Packet</a>( XBeePacket* xbp, uint8 frameID, uint16 destination, uint8 options, uint8* data, uint8 datalength )
<a name="l00493"></a>00493 {
<a name="l00494"></a>00494   xbp-&gt;apiId = XBEE_TX16;
<a name="l00495"></a>00495   xbp-&gt;tx16.frameID = frameID;
<a name="l00496"></a>00496   xbp-&gt;tx16.destination[0] = destination &gt;&gt; 8;
<a name="l00497"></a>00497   xbp-&gt;tx16.destination[1] = destination &amp; 0xFF;
<a name="l00498"></a>00498   xbp-&gt;tx16.options = options;
<a name="l00499"></a>00499   xbp-&gt;length = datalength + 5;
<a name="l00500"></a>00500   uint8* p = xbp-&gt;tx16.data;
<a name="l00501"></a>00501   <span class="keywordflow">while</span>( datalength-- )
<a name="l00502"></a>00502     *p++ = *data++;
<a name="l00503"></a>00503   <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00504"></a>00504 }
<a name="l00505"></a>00505 <span class="comment"></span>
<a name="l00506"></a>00506 <span class="comment">/** </span>
<a name="l00507"></a>00507 <span class="comment">  Create a packet to be transmitted with a 64-bit address.</span>
<a name="l00508"></a>00508 <span class="comment"></span>
<a name="l00509"></a>00509 <span class="comment">  @param xbp The XBeePacket to create.</span>
<a name="l00510"></a>00510 <span class="comment">  @param frameID The frame ID for this packet that subsequent response/status messages can refer to.</span>
<a name="l00511"></a>00511 <span class="comment">  @param destination The destination address for this packet.</span>
<a name="l00512"></a>00512 <span class="comment">  @param options The XBee options for this packet (0 if none).</span>
<a name="l00513"></a>00513 <span class="comment">  @param data A pointer to the data to be sent in this packet.</span>
<a name="l00514"></a>00514 <span class="comment">  @param datalength The number of bytes of data to be sent.</span>
<a name="l00515"></a>00515 <span class="comment">  @return True on success, false on failure.</span>
<a name="l00516"></a>00516 <span class="comment">  </span>
<a name="l00517"></a>00517 <span class="comment">  \par Example</span>
<a name="l00518"></a>00518 <span class="comment">  \code</span>
<a name="l00519"></a>00519 <span class="comment">  XBeePacket txPacket;</span>
<a name="l00520"></a>00520 <span class="comment">  uint8 data[] = "ABCDE";</span>
<a name="l00521"></a>00521 <span class="comment">  XBee_CreateTX16Packet( &amp;txPacket, 0, 0, 0, data, 5 );</span>
<a name="l00522"></a>00522 <span class="comment">  XBee_SendPacket( &amp;txPacket, 5 );</span>
<a name="l00523"></a>00523 <span class="comment">  \endcode</span>
<a name="l00524"></a>00524 <span class="comment">*/</span>
<a name="l00525"></a><a class="code" href="group___x_bee.html#gda9cdb29dfffba8aea12c8f9e5586237">00525</a> <span class="keywordtype">bool</span> <a class="code" href="group___x_bee.html#gda9cdb29dfffba8aea12c8f9e5586237" title="Create a packet to be transmitted with a 64-bit address.">XBee_CreateTX64Packet</a>( XBeePacket* xbp, uint8 frameID, uint64 destination, uint8 options, uint8* data, uint8 datalength )
<a name="l00526"></a>00526 {
<a name="l00527"></a>00527   uint8* p;
<a name="l00528"></a>00528   <span class="keywordtype">int</span> i;
<a name="l00529"></a>00529   xbp-&gt;apiId = XBEE_TX64;
<a name="l00530"></a>00530   xbp-&gt;tx64.frameID = frameID;
<a name="l00531"></a>00531   <span class="keywordflow">for</span>( i = 0; i &lt; 8; i++ )
<a name="l00532"></a>00532     xbp-&gt;tx64.destination[i] = (destination &gt;&gt; 8*i) &amp; (0xFF * i); <span class="comment">// ????????</span>
<a name="l00533"></a>00533   xbp-&gt;tx64.options = options;
<a name="l00534"></a>00534   xbp-&gt;length = datalength + 5;
<a name="l00535"></a>00535   p = xbp-&gt;tx64.data;
<a name="l00536"></a>00536   <span class="keywordflow">while</span>( datalength-- )
<a name="l00537"></a>00537     *p++ = *data++;
<a name="l00538"></a>00538   <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00539"></a>00539 }
<a name="l00540"></a>00540 <span class="comment"></span>
<a name="l00541"></a>00541 <span class="comment">/** </span>
<a name="l00542"></a>00542 <span class="comment">  Unpack the info from an incoming packet with a 16-bit address.</span>
<a name="l00543"></a>00543 <span class="comment">  Pass \b NULL into any of the parameters you don't care about.</span>
<a name="l00544"></a>00544 <span class="comment">  @param xbp The XBeePacket to read from.</span>
<a name="l00545"></a>00545 <span class="comment">  @param srcAddress The 16-bit address of this packet.</span>
<a name="l00546"></a>00546 <span class="comment">  @param sigstrength The signal strength of this packet.</span>
<a name="l00547"></a>00547 <span class="comment">  @param options The XBee options for this packet.</span>
<a name="l00548"></a>00548 <span class="comment">  @param data A pointer that will be set to the data of this packet.</span>
<a name="l00549"></a>00549 <span class="comment">  @param datalength The length of data in this packet.</span>
<a name="l00550"></a>00550 <span class="comment">  @return True on success, false on failure.</span>
<a name="l00551"></a>00551 <span class="comment">  </span>
<a name="l00552"></a>00552 <span class="comment">  \par Example</span>
<a name="l00553"></a>00553 <span class="comment">  \code</span>
<a name="l00554"></a>00554 <span class="comment">  XBeePacket rxPacket;</span>
<a name="l00555"></a>00555 <span class="comment">  if( XBee_GetPacket( &amp;rxPacket, 0 ) )</span>
<a name="l00556"></a>00556 <span class="comment">  {</span>
<a name="l00557"></a>00557 <span class="comment">    uint16 src;</span>
<a name="l00558"></a>00558 <span class="comment">    uint8 sigstrength;</span>
<a name="l00559"></a>00559 <span class="comment">    uint8* data;</span>
<a name="l00560"></a>00560 <span class="comment">    uint8 datalength;</span>
<a name="l00561"></a>00561 <span class="comment">    if( XBee_ReadRX16Packet( &amp;rxPacket, &amp;src, &amp;sigstrength, NULL, &amp;data, &amp;datalength ) )</span>
<a name="l00562"></a>00562 <span class="comment">    {</span>
<a name="l00563"></a>00563 <span class="comment">      // then process the new packet here</span>
<a name="l00564"></a>00564 <span class="comment">      XBee_ResetPacket( &amp;rxPacket ); // and clear it out before reading again</span>
<a name="l00565"></a>00565 <span class="comment">    }</span>
<a name="l00566"></a>00566 <span class="comment">  }</span>
<a name="l00567"></a>00567 <span class="comment">  \endcode</span>
<a name="l00568"></a>00568 <span class="comment">*/</span>
<a name="l00569"></a><a class="code" href="group___x_bee.html#g90063926b2e0055e8476887828e8eaa4">00569</a> <span class="keywordtype">bool</span> <a class="code" href="group___x_bee.html#g90063926b2e0055e8476887828e8eaa4" title="Unpack the info from an incoming packet with a 16-bit address.">XBee_ReadRX16Packet</a>( XBeePacket* xbp, uint16* srcAddress, uint8* sigstrength, uint8* options, uint8** data, uint8* datalength )
<a name="l00570"></a>00570 {
<a name="l00571"></a>00571   <span class="keywordflow">if</span>( xbp-&gt;apiId != XBEE_RX16 )
<a name="l00572"></a>00572     <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00573"></a>00573 
<a name="l00574"></a>00574   <span class="keywordflow">if</span>( srcAddress )
<a name="l00575"></a>00575   {
<a name="l00576"></a>00576     *srcAddress = xbp-&gt;rx16.source[0];
<a name="l00577"></a>00577     *srcAddress &lt;&lt;= 8;
<a name="l00578"></a>00578     *srcAddress += xbp-&gt;rx16.source[1];
<a name="l00579"></a>00579   }
<a name="l00580"></a>00580   <span class="keywordflow">if</span>( sigstrength )
<a name="l00581"></a>00581     *sigstrength = xbp-&gt;rx16.rssi;
<a name="l00582"></a>00582   <span class="keywordflow">if</span>( options )
<a name="l00583"></a>00583     *options = xbp-&gt;rx16.options;
<a name="l00584"></a>00584   <span class="keywordflow">if</span>( data )
<a name="l00585"></a>00585     *data = xbp-&gt;rx16.data;
<a name="l00586"></a>00586   <span class="keywordflow">if</span>( datalength )
<a name="l00587"></a>00587     *datalength = xbp-&gt;length - 5;
<a name="l00588"></a>00588   <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00589"></a>00589 }
<a name="l00590"></a>00590 <span class="comment"></span>
<a name="l00591"></a>00591 <span class="comment">/** </span>
<a name="l00592"></a>00592 <span class="comment">  Unpack the info from an incoming packet with a 64-bit address.</span>
<a name="l00593"></a>00593 <span class="comment">  Pass \b NULL into any of the parameters you don't care about.</span>
<a name="l00594"></a>00594 <span class="comment">  @param xbp The XBeePacket to read from.</span>
<a name="l00595"></a>00595 <span class="comment">  @param srcAddress The 64-bit address of this packet.</span>
<a name="l00596"></a>00596 <span class="comment">  @param sigstrength The signal strength of this packet.</span>
<a name="l00597"></a>00597 <span class="comment">  @param options The XBee options for this packet.</span>
<a name="l00598"></a>00598 <span class="comment">  @param data A pointer that will be set to the data of this packet.</span>
<a name="l00599"></a>00599 <span class="comment">  @param datalength The length of data in this packet.</span>
<a name="l00600"></a>00600 <span class="comment">  @return True on success, false on failure.</span>
<a name="l00601"></a>00601 <span class="comment">  </span>
<a name="l00602"></a>00602 <span class="comment">  \par Example</span>
<a name="l00603"></a>00603 <span class="comment">  \code</span>
<a name="l00604"></a>00604 <span class="comment">  XBeePacket rxPacket;</span>
<a name="l00605"></a>00605 <span class="comment">  if( XBee_GetPacket( &amp;rxPacket, 0 ) )</span>
<a name="l00606"></a>00606 <span class="comment">  {</span>
<a name="l00607"></a>00607 <span class="comment">    uint64 src;</span>
<a name="l00608"></a>00608 <span class="comment">    uint8 sigstrength;</span>
<a name="l00609"></a>00609 <span class="comment">    uint8* data;</span>
<a name="l00610"></a>00610 <span class="comment">    uint8 datalength;</span>
<a name="l00611"></a>00611 <span class="comment">    if( XBee_ReadRX64Packet( &amp;rxPacket, &amp;src, &amp;sigstrength, NULL, &amp;data, &amp;datalength ) )</span>
<a name="l00612"></a>00612 <span class="comment">    {</span>
<a name="l00613"></a>00613 <span class="comment">      // then process the new packet here</span>
<a name="l00614"></a>00614 <span class="comment">      XBee_ResetPacket( &amp;rxPacket ); // and clear it out before reading again</span>
<a name="l00615"></a>00615 <span class="comment">    }</span>
<a name="l00616"></a>00616 <span class="comment">  }</span>
<a name="l00617"></a>00617 <span class="comment">  \endcode</span>
<a name="l00618"></a>00618 <span class="comment">*/</span>
<a name="l00619"></a><a class="code" href="group___x_bee.html#g366e1d12df63ac0bb6b4fbf380c9311c">00619</a> <span class="keywordtype">bool</span> <a class="code" href="group___x_bee.html#g366e1d12df63ac0bb6b4fbf380c9311c" title="Unpack the info from an incoming packet with a 64-bit address.">XBee_ReadRX64Packet</a>( XBeePacket* xbp, uint64* srcAddress, uint8* sigstrength, uint8* options, uint8** data, uint8* datalength )
<a name="l00620"></a>00620 {
<a name="l00621"></a>00621   <span class="keywordflow">if</span>( xbp-&gt;apiId != XBEE_RX64 )
<a name="l00622"></a>00622     <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00623"></a>00623 
<a name="l00624"></a>00624   <span class="keywordtype">int</span> i;
<a name="l00625"></a>00625   <span class="keywordflow">if</span>( srcAddress )
<a name="l00626"></a>00626   {
<a name="l00627"></a>00627     <span class="keywordflow">for</span>( i = 0; i &lt; 8; i++ )
<a name="l00628"></a>00628     {
<a name="l00629"></a>00629       *srcAddress &lt;&lt;= i*8;
<a name="l00630"></a>00630       *srcAddress += xbp-&gt;rx64.source[i];
<a name="l00631"></a>00631     }
<a name="l00632"></a>00632   }
<a name="l00633"></a>00633   <span class="keywordflow">if</span>( sigstrength )
<a name="l00634"></a>00634     *sigstrength = xbp-&gt;rx64.rssi;
<a name="l00635"></a>00635   <span class="keywordflow">if</span>( options )
<a name="l00636"></a>00636     *options = xbp-&gt;rx64.options;
<a name="l00637"></a>00637   <span class="keywordflow">if</span>( data )
<a name="l00638"></a>00638     *data = xbp-&gt;rx64.data;
<a name="l00639"></a>00639   <span class="keywordflow">if</span>( datalength )
<a name="l00640"></a>00640     *datalength = xbp-&gt;length - 11;
<a name="l00641"></a>00641   <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00642"></a>00642 }
<a name="l00643"></a>00643 <span class="comment"></span>
<a name="l00644"></a>00644 <span class="comment">/** </span>
<a name="l00645"></a>00645 <span class="comment">  Unpack the info from an incoming IO packet with a 16-bit address.</span>
<a name="l00646"></a>00646 <span class="comment">  When an XBee module has been given a sample rate, it will sample its IO pins according to their current configuration</span>
<a name="l00647"></a>00647 <span class="comment">  and send an IO packet with the sample data.  This function will extract the sample info into an array of ints for you.</span>
<a name="l00648"></a>00648 <span class="comment">  There are 9 IO pins on the XBee modules, so be sure that the array you pass in has room for 9 ints.</span>
<a name="l00649"></a>00649 <span class="comment"></span>
<a name="l00650"></a>00650 <span class="comment">  Pass \b NULL into any of the parameters you don't care about.</span>
<a name="l00651"></a>00651 <span class="comment">  @param xbp The XBeePacket to read from.</span>
<a name="l00652"></a>00652 <span class="comment">  @param srcAddress A pointer to a uint16 that will be filled up with the 16-bit address of this packet.</span>
<a name="l00653"></a>00653 <span class="comment">  @param sigstrength A pointer to a uint8 that will be filled up with the signal strength of this packet.</span>
<a name="l00654"></a>00654 <span class="comment">  @param options A pointer to a uint8 that will be filled up with the XBee options for this packet.</span>
<a name="l00655"></a>00655 <span class="comment">  @param samples A pointer to an array of ints that will be filled up with the sample values from this packet.</span>
<a name="l00656"></a>00656 <span class="comment">  @return True on success, false on failure.</span>
<a name="l00657"></a>00657 <span class="comment">  @see XBeeConfig_SetSampleRate( ), XBeeConfig_SetIOs( )</span>
<a name="l00658"></a>00658 <span class="comment">  </span>
<a name="l00659"></a>00659 <span class="comment">  \par Example</span>
<a name="l00660"></a>00660 <span class="comment">  \code</span>
<a name="l00661"></a>00661 <span class="comment">  XBeePacket rxPacket;</span>
<a name="l00662"></a>00662 <span class="comment">  if( XBee_GetPacket( &amp;rxPacket, 0 ) )</span>
<a name="l00663"></a>00663 <span class="comment">  {</span>
<a name="l00664"></a>00664 <span class="comment">    uint16 src;</span>
<a name="l00665"></a>00665 <span class="comment">    uint8 sigstrength;</span>
<a name="l00666"></a>00666 <span class="comment">    int samples[9];</span>
<a name="l00667"></a>00667 <span class="comment">    if( XBee_ReadIO16Packet( &amp;rxPacket, &amp;src, &amp;sigstrength, NULL, samples ) )</span>
<a name="l00668"></a>00668 <span class="comment">    {</span>
<a name="l00669"></a>00669 <span class="comment">      // then process the new packet here</span>
<a name="l00670"></a>00670 <span class="comment">      XBee_ResetPacket( &amp;rxPacket ); // and clear it out before reading again</span>
<a name="l00671"></a>00671 <span class="comment">    }</span>
<a name="l00672"></a>00672 <span class="comment">  }</span>
<a name="l00673"></a>00673 <span class="comment">  \endcode</span>
<a name="l00674"></a>00674 <span class="comment">*/</span>
<a name="l00675"></a><a class="code" href="group___x_bee.html#gdc33b8d4803250488422484b2129f659">00675</a> <span class="keywordtype">bool</span> <a class="code" href="group___x_bee.html#gdc33b8d4803250488422484b2129f659" title="Unpack the info from an incoming IO packet with a 16-bit address.">XBee_ReadIO16Packet</a>( XBeePacket* xbp, uint16* srcAddress, uint8* sigstrength, uint8* options, <span class="keywordtype">int</span>* samples )
<a name="l00676"></a>00676 {
<a name="l00677"></a>00677   <span class="keywordflow">if</span>( xbp-&gt;apiId != XBEE_IO16 )
<a name="l00678"></a>00678     <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00679"></a>00679   <span class="keywordflow">if</span>( srcAddress )
<a name="l00680"></a>00680   {
<a name="l00681"></a>00681     *srcAddress = xbp-&gt;io16.source[0];
<a name="l00682"></a>00682     *srcAddress &lt;&lt;= 8;
<a name="l00683"></a>00683     *srcAddress += xbp-&gt;io16.source[1];
<a name="l00684"></a>00684   }
<a name="l00685"></a>00685   <span class="keywordflow">if</span>( sigstrength )
<a name="l00686"></a>00686     *sigstrength = xbp-&gt;io16.rssi;
<a name="l00687"></a>00687   <span class="keywordflow">if</span>( options )
<a name="l00688"></a>00688     *options = xbp-&gt;io16.options;
<a name="l00689"></a>00689   <span class="keywordflow">if</span>( samples )
<a name="l00690"></a>00690   {
<a name="l00691"></a>00691     <span class="keywordflow">if</span>( !XBee_GetIOValues( xbp, samples ) )
<a name="l00692"></a>00692       <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00693"></a>00693   }
<a name="l00694"></a>00694   <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00695"></a>00695 }
<a name="l00696"></a>00696 <span class="comment"></span>
<a name="l00697"></a>00697 <span class="comment">/** </span>
<a name="l00698"></a>00698 <span class="comment">  Unpack the info from an incoming IO packet with a 64-bit address.</span>
<a name="l00699"></a>00699 <span class="comment">  When an XBee module has been given a sample rate, it will sample its IO pins according to their current configuration</span>
<a name="l00700"></a>00700 <span class="comment">  and send an IO packet with the sample data.  This function will extract the sample info into an array of ints for you.</span>
<a name="l00701"></a>00701 <span class="comment">  There are 9 IO pins on the XBee modules, so be sure that the array you pass in has room for 9 ints.</span>
<a name="l00702"></a>00702 <span class="comment"></span>
<a name="l00703"></a>00703 <span class="comment">  Pass \b NULL into any of the parameters you don't care about.</span>
<a name="l00704"></a>00704 <span class="comment">  @param xbp The XBeePacket to read from.</span>
<a name="l00705"></a>00705 <span class="comment">  @param srcAddress A pointer to a uint64 that will be filled up with the 16-bit address of this packet.</span>
<a name="l00706"></a>00706 <span class="comment">  @param sigstrength A pointer to a uint8 that will be filled up with the signal strength of this packet.</span>
<a name="l00707"></a>00707 <span class="comment">  @param options A pointer to a uint8 that will be filled up with the XBee options for this packet.</span>
<a name="l00708"></a>00708 <span class="comment">  @param samples A pointer to an array of ints that will be filled up with the sample values from this packet.</span>
<a name="l00709"></a>00709 <span class="comment">  @return True on success, false on failure.</span>
<a name="l00710"></a>00710 <span class="comment">  @see XBeeConfig_SetSampleRate( ), XBeeConfig_SetIOs( )</span>
<a name="l00711"></a>00711 <span class="comment">  </span>
<a name="l00712"></a>00712 <span class="comment">  \par Example</span>
<a name="l00713"></a>00713 <span class="comment">  \code</span>
<a name="l00714"></a>00714 <span class="comment">  XBeePacket rxPacket;</span>
<a name="l00715"></a>00715 <span class="comment">  if( XBee_GetPacket( &amp;rxPacket, 0 ) )</span>
<a name="l00716"></a>00716 <span class="comment">  {</span>
<a name="l00717"></a>00717 <span class="comment">    uint64 src;</span>
<a name="l00718"></a>00718 <span class="comment">    uint8 sigstrength;</span>
<a name="l00719"></a>00719 <span class="comment">    int samples[9];</span>
<a name="l00720"></a>00720 <span class="comment">    if( XBee_ReadIO16Packet( &amp;rxPacket, &amp;src, &amp;sigstrength, NULL, samples ) )</span>
<a name="l00721"></a>00721 <span class="comment">    {</span>
<a name="l00722"></a>00722 <span class="comment">      // then process the new packet here</span>
<a name="l00723"></a>00723 <span class="comment">      XBee_ResetPacket( &amp;rxPacket ); // and clear it out before reading again</span>
<a name="l00724"></a>00724 <span class="comment">    }</span>
<a name="l00725"></a>00725 <span class="comment">  }</span>
<a name="l00726"></a>00726 <span class="comment">  \endcode</span>
<a name="l00727"></a>00727 <span class="comment">*/</span>
<a name="l00728"></a><a class="code" href="group___x_bee.html#ga54eca4b48efbf8f8080203f9930c1cd">00728</a> <span class="keywordtype">bool</span> <a class="code" href="group___x_bee.html#ga54eca4b48efbf8f8080203f9930c1cd" title="Unpack the info from an incoming IO packet with a 64-bit address.">XBee_ReadIO64Packet</a>( XBeePacket* xbp, uint64* srcAddress, uint8* sigstrength, uint8* options, <span class="keywordtype">int</span>* samples )
<a name="l00729"></a>00729 {
<a name="l00730"></a>00730   <span class="keywordflow">if</span>( xbp-&gt;apiId != XBEE_RX64 )
<a name="l00731"></a>00731     <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00732"></a>00732   <span class="keywordflow">if</span>( srcAddress )
<a name="l00733"></a>00733   {
<a name="l00734"></a>00734     <span class="keywordtype">int</span> i;
<a name="l00735"></a>00735     <span class="keywordflow">for</span>( i = 0; i &lt; 8; i++ )
<a name="l00736"></a>00736     {
<a name="l00737"></a>00737       *srcAddress &lt;&lt;= i*8;
<a name="l00738"></a>00738       *srcAddress += xbp-&gt;io64.source[i];
<a name="l00739"></a>00739     }
<a name="l00740"></a>00740   }
<a name="l00741"></a>00741   <span class="keywordflow">if</span>( sigstrength )
<a name="l00742"></a>00742     *sigstrength = xbp-&gt;io64.rssi;
<a name="l00743"></a>00743   <span class="keywordflow">if</span>( options )
<a name="l00744"></a>00744     *options = xbp-&gt;io64.options;
<a name="l00745"></a>00745   <span class="keywordflow">if</span>( samples )
<a name="l00746"></a>00746   {
<a name="l00747"></a>00747     <span class="keywordflow">if</span>( !XBee_GetIOValues( xbp, samples ) )
<a name="l00748"></a>00748       <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00749"></a>00749   }
<a name="l00750"></a>00750   <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00751"></a>00751 }
<a name="l00752"></a>00752 <span class="comment"></span>
<a name="l00753"></a>00753 <span class="comment">/** </span>
<a name="l00754"></a>00754 <span class="comment">  Unpack the info from an incoming AT Command Response packet.</span>
<a name="l00755"></a>00755 <span class="comment">  In response to a previous AT Command message, the module will send an AT Command Response message.</span>
<a name="l00756"></a>00756 <span class="comment"></span>
<a name="l00757"></a>00757 <span class="comment">  Pass \b NULL into any of the parameters you don't care about.</span>
<a name="l00758"></a>00758 <span class="comment">  @param xbp The XBeePacket to read from.</span>
<a name="l00759"></a>00759 <span class="comment">  @param frameID A pointer to a uint64 that will be filled up with the 16-bit address of this packet.</span>
<a name="l00760"></a>00760 <span class="comment">  @param command A pointer to a uint8 that will be filled up with the signal strength of this packet.</span>
<a name="l00761"></a>00761 <span class="comment">  @param status A pointer to a uint8 that will be filled up with the XBee options for this packet.</span>
<a name="l00762"></a>00762 <span class="comment">  @param data A pointer that will be set to the data of this packet.</span>
<a name="l00763"></a>00763 <span class="comment">  @return True on success, false on failure.</span>
<a name="l00764"></a>00764 <span class="comment">  </span>
<a name="l00765"></a>00765 <span class="comment">  \par Example</span>
<a name="l00766"></a>00766 <span class="comment">  \code</span>
<a name="l00767"></a>00767 <span class="comment">  XBeePacket rxPacket;</span>
<a name="l00768"></a>00768 <span class="comment">  if( XBee_GetPacket( &amp;rxPacket, 0 ) )</span>
<a name="l00769"></a>00769 <span class="comment">  {</span>
<a name="l00770"></a>00770 <span class="comment">    uint8 frameID;</span>
<a name="l00771"></a>00771 <span class="comment">    char* command;</span>
<a name="l00772"></a>00772 <span class="comment">    uint8 status;</span>
<a name="l00773"></a>00773 <span class="comment">    uint8* data;</span>
<a name="l00774"></a>00774 <span class="comment">    if( XBee_ReadAtResponsePacket( &amp;rxPacket, &amp;frameID, command, &amp;status, &amp;data ) )</span>
<a name="l00775"></a>00775 <span class="comment">    {</span>
<a name="l00776"></a>00776 <span class="comment">      // then process the new packet here</span>
<a name="l00777"></a>00777 <span class="comment">      XBee_ResetPacket( &amp;rxPacket ); // and clear it out before reading again</span>
<a name="l00778"></a>00778 <span class="comment">    }</span>
<a name="l00779"></a>00779 <span class="comment">  }</span>
<a name="l00780"></a>00780 <span class="comment">  \endcode</span>
<a name="l00781"></a>00781 <span class="comment">*/</span>
<a name="l00782"></a><a class="code" href="group___x_bee.html#gfc6ae9ae046640c29bc29f18d01f9a04">00782</a> <span class="keywordtype">bool</span> <a class="code" href="group___x_bee.html#gfc6ae9ae046640c29bc29f18d01f9a04" title="Unpack the info from an incoming AT Command Response packet.">XBee_ReadAtResponsePacket</a>( XBeePacket* xbp, uint8* frameID, <span class="keywordtype">char</span>** command, uint8* status, uint8** data )
<a name="l00783"></a>00783 {
<a name="l00784"></a>00784   <span class="keywordflow">if</span>( xbp-&gt;apiId != XBEE_ATCOMMANDRESPONSE )
<a name="l00785"></a>00785     <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00786"></a>00786   <span class="keywordflow">if</span>( frameID )
<a name="l00787"></a>00787     *frameID = xbp-&gt;atResponse.frameID;
<a name="l00788"></a>00788   <span class="keywordflow">if</span>( command )
<a name="l00789"></a>00789     *command = (<span class="keywordtype">char</span>*)xbp-&gt;atResponse.command;
<a name="l00790"></a>00790   <span class="keywordflow">if</span>( status )
<a name="l00791"></a>00791     *status = xbp-&gt;atResponse.status;
<a name="l00792"></a>00792   <span class="keywordflow">if</span>( data )
<a name="l00793"></a>00793     *data = xbp-&gt;atResponse.value;
<a name="l00794"></a>00794   <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00795"></a>00795 }
<a name="l00796"></a>00796 <span class="comment"></span>
<a name="l00797"></a>00797 <span class="comment">/** </span>
<a name="l00798"></a>00798 <span class="comment">  Unpack the info from TX Status packet.</span>
<a name="l00799"></a>00799 <span class="comment">  When a TX is completed, the modules esnds a TX Status message.  This indicates whether the packet was transmitted</span>
<a name="l00800"></a>00800 <span class="comment">  successfully or not.  If the message you sent had a frameID of 0, a TX status message will not be generated.</span>
<a name="l00801"></a>00801 <span class="comment"></span>
<a name="l00802"></a>00802 <span class="comment">  Pass \b NULL into any of the parameters you don't care about.</span>
<a name="l00803"></a>00803 <span class="comment">  @param xbp The XBeePacket to read from.</span>
<a name="l00804"></a>00804 <span class="comment">  @param frameID A pointer to a uint8 that will be filled up with the frame ID of this packet.</span>
<a name="l00805"></a>00805 <span class="comment">  @param status A pointer to a uint8 that will be filled up with the status of this packet.</span>
<a name="l00806"></a>00806 <span class="comment">  @return True on success, false on failure.</span>
<a name="l00807"></a>00807 <span class="comment">  </span>
<a name="l00808"></a>00808 <span class="comment">  \par Example</span>
<a name="l00809"></a>00809 <span class="comment">  \code</span>
<a name="l00810"></a>00810 <span class="comment">  XBeePacket rxPacket;</span>
<a name="l00811"></a>00811 <span class="comment">  if( XBee_GetPacket( &amp;rxPacket, 0 ) )</span>
<a name="l00812"></a>00812 <span class="comment">  {</span>
<a name="l00813"></a>00813 <span class="comment">    uint8 frameID;</span>
<a name="l00814"></a>00814 <span class="comment">    uint8 status;</span>
<a name="l00815"></a>00815 <span class="comment">    if( XBee_ReadTXStatusPacket( &amp;rxPacket, &amp;frameID, &amp;status ) )</span>
<a name="l00816"></a>00816 <span class="comment">    {</span>
<a name="l00817"></a>00817 <span class="comment">      // then process the new packet here</span>
<a name="l00818"></a>00818 <span class="comment">      XBee_ResetPacket( &amp;rxPacket ); // and clear it out before reading again</span>
<a name="l00819"></a>00819 <span class="comment">    }</span>
<a name="l00820"></a>00820 <span class="comment">  }</span>
<a name="l00821"></a>00821 <span class="comment">  \endcode</span>
<a name="l00822"></a>00822 <span class="comment">*/</span>
<a name="l00823"></a><a class="code" href="group___x_bee.html#ga9d737273a7ae0ab7240424b058fc639">00823</a> <span class="keywordtype">bool</span> <a class="code" href="group___x_bee.html#ga9d737273a7ae0ab7240424b058fc639" title="Unpack the info from TX Status packet.">XBee_ReadTXStatusPacket</a>( XBeePacket* xbp, uint8* frameID, uint8* status )
<a name="l00824"></a>00824 {
<a name="l00825"></a>00825   <span class="keywordflow">if</span>( xbp-&gt;apiId != XBEE_TXSTATUS )
<a name="l00826"></a>00826     <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00827"></a>00827   <span class="keywordflow">if</span>( frameID )
<a name="l00828"></a>00828     *frameID = xbp-&gt;txStatus.frameID;
<a name="l00829"></a>00829   <span class="keywordflow">if</span>( status )
<a name="l00830"></a>00830     *status = xbp-&gt;txStatus.status;
<a name="l00831"></a>00831   <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00832"></a>00832 }
<a name="l00833"></a>00833 <span class="comment"></span>
<a name="l00834"></a>00834 <span class="comment">/** </span>
<a name="l00835"></a>00835 <span class="comment">  Save the configuration changes you've made on the module to memory.</span>
<a name="l00836"></a>00836 <span class="comment">  When you make configuration changes - setting the module to API mode, or configuring the sample rate, for example - </span>
<a name="l00837"></a>00837 <span class="comment">  those changes will be lost when the module restarts.  Call this function to save the current state to non-volatile memory.</span>
<a name="l00838"></a>00838 <span class="comment"></span>
<a name="l00839"></a>00839 <span class="comment">  As with the other \b XBeeConfig functions, make sure you're in API mode before trying to use this function.</span>
<a name="l00840"></a>00840 <span class="comment">  @return True on success, false on failure.</span>
<a name="l00841"></a>00841 <span class="comment">  @see XBeeConfig_SetPacketApiMode( )</span>
<a name="l00842"></a>00842 <span class="comment">  </span>
<a name="l00843"></a>00843 <span class="comment">  \par Example</span>
<a name="l00844"></a>00844 <span class="comment">  \code</span>
<a name="l00845"></a>00845 <span class="comment">  XBeeConfig_SetPacketApiMode( );</span>
<a name="l00846"></a>00846 <span class="comment">  XBeeConfig_SetSampleRate( 100 );</span>
<a name="l00847"></a>00847 <span class="comment">  XBeeConfig_WriteStateToMemory( );</span>
<a name="l00848"></a>00848 <span class="comment">  \endcode</span>
<a name="l00849"></a>00849 <span class="comment">*/</span>
<a name="l00850"></a><a class="code" href="group___x_bee.html#g60564c155b8d6a6e73a9bfa54917ebd2">00850</a> <span class="keywordtype">void</span> <a class="code" href="group___x_bee.html#g60564c155b8d6a6e73a9bfa54917ebd2" title="Save the configuration changes you&amp;#39;ve made on the module to memory.">XBeeConfig_WriteStateToMemory</a>( <span class="keywordtype">void</span> )
<a name="l00851"></a>00851 {
<a name="l00852"></a>00852   XBeePacket xbp;
<a name="l00853"></a>00853   uint8 params[4];
<a name="l00854"></a>00854   memset( params, 0, 4 );
<a name="l00855"></a>00855   <a class="code" href="group___x_bee.html#g2c4ec9c048a04f7d7b46850377e51008" title="A convenience function for creating an AT command packet.">XBee_CreateATCommandPacket</a>( &amp;xbp, 0, <span class="stringliteral">"WR"</span>, params, 4 );
<a name="l00856"></a>00856   <a class="code" href="group___x_bee.html#g88dd9f12ff38f318e59ec8e8283a78d3" title="Send an XBee packet.">XBee_SendPacket</a>( &amp;xbp, 4 );
<a name="l00857"></a>00857 }
<a name="l00858"></a>00858 <span class="comment"></span>
<a name="l00859"></a>00859 <span class="comment">/** </span>
<a name="l00860"></a>00860 <span class="comment">  Set this module's address.</span>
<a name="l00861"></a>00861 <span class="comment"></span>
<a name="l00862"></a>00862 <span class="comment">  As with the other \b XBeeConfig functions, make sure you're in API mode before trying to use this function.</span>
<a name="l00863"></a>00863 <span class="comment">  @param address An integer specifying the module's address.</span>
<a name="l00864"></a>00864 <span class="comment">  @return True on success, false on failure.</span>
<a name="l00865"></a>00865 <span class="comment">  @see XBeeConfig_SetPacketApiMode( )</span>
<a name="l00866"></a>00866 <span class="comment">  </span>
<a name="l00867"></a>00867 <span class="comment">  \par Example</span>
<a name="l00868"></a>00868 <span class="comment">  \code</span>
<a name="l00869"></a>00869 <span class="comment">  XBeeConfig_SetPacketApiMode( );</span>
<a name="l00870"></a>00870 <span class="comment">  XBeeConfig_SetAddress( 100 );</span>
<a name="l00871"></a>00871 <span class="comment">  XBeeConfig_WriteStateToMemory( );</span>
<a name="l00872"></a>00872 <span class="comment">  \endcode</span>
<a name="l00873"></a>00873 <span class="comment">*/</span>
<a name="l00874"></a><a class="code" href="group___x_bee.html#gf6eb50d7c632ccadf35d89bebf30ba4a">00874</a> <span class="keywordtype">void</span> <a class="code" href="group___x_bee.html#gf6eb50d7c632ccadf35d89bebf30ba4a" title="Set this module&amp;#39;s address.">XBeeConfig_SetAddress</a>( uint16 address )
<a name="l00875"></a>00875 {
<a name="l00876"></a>00876   XBeePacket xbp;
<a name="l00877"></a>00877   uint8 params[4]; <span class="comment">// big endian - most significant bit first</span>
<a name="l00878"></a>00878   <a class="code" href="group___x_bee.html#gd357b57c2604013a69ec60e746318f89" title="Convert a 32-bit integer into a big endian array of 4 unsigned 8-bit integers.">XBee_IntToBigEndianArray</a>( address, params );
<a name="l00879"></a>00879   <a class="code" href="group___x_bee.html#g2c4ec9c048a04f7d7b46850377e51008" title="A convenience function for creating an AT command packet.">XBee_CreateATCommandPacket</a>( &amp;xbp, 0, <span class="stringliteral">"MY"</span>, params, 4 );
<a name="l00880"></a>00880   <a class="code" href="group___x_bee.html#g88dd9f12ff38f318e59ec8e8283a78d3" title="Send an XBee packet.">XBee_SendPacket</a>( &amp;xbp, 4 );
<a name="l00881"></a>00881 }
<a name="l00882"></a>00882 <span class="comment"></span>
<a name="l00883"></a>00883 <span class="comment">/** </span>
<a name="l00884"></a>00884 <span class="comment">  Query the address of the module.</span>
<a name="l00885"></a>00885 <span class="comment">  This will block for up to a 1/2 second waiting for a response from the XBee module.</span>
<a name="l00886"></a>00886 <span class="comment">  @return An integer corresponding to the address of the module, or negative number on failure.</span>
<a name="l00887"></a>00887 <span class="comment">  </span>
<a name="l00888"></a>00888 <span class="comment">  \par Example</span>
<a name="l00889"></a>00889 <span class="comment">  \code</span>
<a name="l00890"></a>00890 <span class="comment">  int address = XBeeConfig_RequestAddress( );</span>
<a name="l00891"></a>00891 <span class="comment">  if( address &gt;= 0 )</span>
<a name="l00892"></a>00892 <span class="comment">  {</span>
<a name="l00893"></a>00893 <span class="comment">    // then we have our address</span>
<a name="l00894"></a>00894 <span class="comment">  }</span>
<a name="l00895"></a>00895 <span class="comment">  \endcode</span>
<a name="l00896"></a>00896 <span class="comment">*/</span>
<a name="l00897"></a><a class="code" href="group___x_bee.html#gcca92909fdf6d844af5da5a13b1d1303">00897</a> <span class="keywordtype">int</span> <a class="code" href="group___x_bee.html#gcca92909fdf6d844af5da5a13b1d1303" title="Query the address of the module.">XBeeConfig_RequestAddress</a>( )
<a name="l00898"></a>00898 {
<a name="l00899"></a>00899   XBeePacket xbp;
<a name="l00900"></a>00900   <a class="code" href="group___x_bee.html#g2c4ec9c048a04f7d7b46850377e51008" title="A convenience function for creating an AT command packet.">XBee_CreateATCommandPacket</a>( &amp;xbp, 0x52, <span class="stringliteral">"MY"</span>, NULL, 0 );
<a name="l00901"></a>00901   <a class="code" href="group___x_bee.html#g88dd9f12ff38f318e59ec8e8283a78d3" title="Send an XBee packet.">XBee_SendPacket</a>( &amp;xbp, 0 );
<a name="l00902"></a>00902   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00903"></a>00903 }
<a name="l00904"></a>00904 <span class="comment"></span>
<a name="l00905"></a>00905 <span class="comment">/** </span>
<a name="l00906"></a>00906 <span class="comment">  Set this PAN (Personal Area Network) ID.</span>
<a name="l00907"></a>00907 <span class="comment">  Only modules with matching PAN IDs can communicate with each other.  Unique PAN IDs enable control of which</span>
<a name="l00908"></a>00908 <span class="comment">  RF packets are received by a module.  Default is \b 0x3332.</span>
<a name="l00909"></a>00909 <span class="comment"></span>
<a name="l00910"></a>00910 <span class="comment">  As with the other \b XBeeConfig functions, make sure you're in API mode before trying to use this function.</span>
<a name="l00911"></a>00911 <span class="comment">  @param id A uint16 specifying the PAN ID.</span>
<a name="l00912"></a>00912 <span class="comment">  @return True on success, false on failure.</span>
<a name="l00913"></a>00913 <span class="comment">  @see XBeeConfig_SetPacketApiMode( )</span>
<a name="l00914"></a>00914 <span class="comment">  </span>
<a name="l00915"></a>00915 <span class="comment">  \par Example</span>
<a name="l00916"></a>00916 <span class="comment">  \code</span>
<a name="l00917"></a>00917 <span class="comment">  XBeeConfig_SetPacketApiMode( );</span>
<a name="l00918"></a>00918 <span class="comment">  XBeeConfig_SetPanID( 0x1234 );</span>
<a name="l00919"></a>00919 <span class="comment">  \endcode</span>
<a name="l00920"></a>00920 <span class="comment">*/</span>
<a name="l00921"></a><a class="code" href="group___x_bee.html#gbb8511090eee4d72a26bf55fb44bcd68">00921</a> <span class="keywordtype">void</span> <a class="code" href="group___x_bee.html#gbb8511090eee4d72a26bf55fb44bcd68" title="Set this PAN (Personal Area Network) ID.">XBeeConfig_SetPanID</a>( uint16 <span class="keywordtype">id</span> )
<a name="l00922"></a>00922 {
<a name="l00923"></a>00923   XBeePacket xbp;
<a name="l00924"></a>00924   uint8 params[4]; <span class="comment">// big endian - most significant bit first</span>
<a name="l00925"></a>00925   <a class="code" href="group___x_bee.html#gd357b57c2604013a69ec60e746318f89" title="Convert a 32-bit integer into a big endian array of 4 unsigned 8-bit integers.">XBee_IntToBigEndianArray</a>( <span class="keywordtype">id</span>, params );
<a name="l00926"></a>00926   <a class="code" href="group___x_bee.html#g2c4ec9c048a04f7d7b46850377e51008" title="A convenience function for creating an AT command packet.">XBee_CreateATCommandPacket</a>( &amp;xbp, 0, <span class="stringliteral">"ID"</span>, params, 4 );
<a name="l00927"></a>00927   <a class="code" href="group___x_bee.html#g88dd9f12ff38f318e59ec8e8283a78d3" title="Send an XBee packet.">XBee_SendPacket</a>( &amp;xbp, 4 );
<a name="l00928"></a>00928 }
<a name="l00929"></a>00929 <span class="comment"></span>
<a name="l00930"></a>00930 <span class="comment">/** </span>
<a name="l00931"></a>00931 <span class="comment">  Query the PAN ID of the module.</span>
<a name="l00932"></a>00932 <span class="comment">  This will block for up to a 1/2 second waiting for a response from the XBee module.</span>
<a name="l00933"></a>00933 <span class="comment">  @return An integer corresponding to the PAN ID of the module, or negative number on failure.</span>
<a name="l00934"></a>00934 <span class="comment">  </span>
<a name="l00935"></a>00935 <span class="comment">  \par Example</span>
<a name="l00936"></a>00936 <span class="comment">  \code</span>
<a name="l00937"></a>00937 <span class="comment">  int panid = XBeeConfig_RequestPanID( );</span>
<a name="l00938"></a>00938 <span class="comment">  if( panid &gt;= 0 )</span>
<a name="l00939"></a>00939 <span class="comment">  {</span>
<a name="l00940"></a>00940 <span class="comment">    // then we have our pan id</span>
<a name="l00941"></a>00941 <span class="comment">  }</span>
<a name="l00942"></a>00942 <span class="comment">  \endcode</span>
<a name="l00943"></a>00943 <span class="comment">*/</span>
<a name="l00944"></a><a class="code" href="group___x_bee.html#gd24a98ab72e3e7767982e59ba663c003">00944</a> <span class="keywordtype">int</span> <a class="code" href="group___x_bee.html#gd24a98ab72e3e7767982e59ba663c003" title="Query the PAN ID of the module.">XBeeConfig_RequestPanID</a>( )
<a name="l00945"></a>00945 {
<a name="l00946"></a>00946   XBeePacket xbp;
<a name="l00947"></a>00947   <a class="code" href="group___x_bee.html#g2c4ec9c048a04f7d7b46850377e51008" title="A convenience function for creating an AT command packet.">XBee_CreateATCommandPacket</a>( &amp;xbp, 0x52, <span class="stringliteral">"ID"</span>, NULL, 0 );
<a name="l00948"></a>00948   <a class="code" href="group___x_bee.html#g88dd9f12ff38f318e59ec8e8283a78d3" title="Send an XBee packet.">XBee_SendPacket</a>( &amp;xbp, 0 );
<a name="l00949"></a>00949   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00950"></a>00950 }
<a name="l00951"></a>00951 <span class="comment"></span>
<a name="l00952"></a>00952 <span class="comment">/** </span>
<a name="l00953"></a>00953 <span class="comment">  Set the module's channel.</span>
<a name="l00954"></a>00954 <span class="comment">  The channel is one of 3 addressing options available to the module - the others are the PAN ID and the</span>
<a name="l00955"></a>00955 <span class="comment">  destination address.  In order for modules to communicate with each other, the modules must share the same</span>
<a name="l00956"></a>00956 <span class="comment">  channel number.  Default is \b 0x0C.</span>
<a name="l00957"></a>00957 <span class="comment"></span>
<a name="l00958"></a>00958 <span class="comment">  This value can have the range \b 0x0B - \b 0x1A for XBee modules, and \b 0x0C - \b 0x17 for XBee-Pro modules.</span>
<a name="l00959"></a>00959 <span class="comment"></span>
<a name="l00960"></a>00960 <span class="comment">  As with the other \b XBeeConfig functions, make sure you're in API mode before trying to use this function.</span>
<a name="l00961"></a>00961 <span class="comment">  @param channel A uint8 specifying the channel.</span>
<a name="l00962"></a>00962 <span class="comment">  @return True on success, false on failure.</span>
<a name="l00963"></a>00963 <span class="comment">  @see XBeeConfig_SetPacketApiMode( )</span>
<a name="l00964"></a>00964 <span class="comment">  </span>
<a name="l00965"></a>00965 <span class="comment">  \par Example</span>
<a name="l00966"></a>00966 <span class="comment">  \code</span>
<a name="l00967"></a>00967 <span class="comment">  XBeeConfig_SetPacketApiMode( );</span>
<a name="l00968"></a>00968 <span class="comment">  XBeeConfig_SetChannel( 0x0D );</span>
<a name="l00969"></a>00969 <span class="comment">  \endcode</span>
<a name="l00970"></a>00970 <span class="comment">*/</span>
<a name="l00971"></a><a class="code" href="group___x_bee.html#gd5fd4ac5a68e76d7a16b3e685f05a4f8">00971</a> <span class="keywordtype">void</span> <a class="code" href="group___x_bee.html#gd5fd4ac5a68e76d7a16b3e685f05a4f8" title="Set the module&amp;#39;s channel.">XBeeConfig_SetChannel</a>( uint8 channel )
<a name="l00972"></a>00972 {
<a name="l00973"></a>00973   XBeePacket xbp;
<a name="l00974"></a>00974   uint8 params[4];
<a name="l00975"></a>00975   <a class="code" href="group___x_bee.html#gd357b57c2604013a69ec60e746318f89" title="Convert a 32-bit integer into a big endian array of 4 unsigned 8-bit integers.">XBee_IntToBigEndianArray</a>( channel, params );
<a name="l00976"></a>00976   <a class="code" href="group___x_bee.html#g2c4ec9c048a04f7d7b46850377e51008" title="A convenience function for creating an AT command packet.">XBee_CreateATCommandPacket</a>( &amp;xbp, 0, <span class="stringliteral">"CH"</span>, params, 4 );
<a name="l00977"></a>00977   <a class="code" href="group___x_bee.html#g88dd9f12ff38f318e59ec8e8283a78d3" title="Send an XBee packet.">XBee_SendPacket</a>( &amp;xbp, 4 );
<a name="l00978"></a>00978 }
<a name="l00979"></a>00979 <span class="comment"></span>
<a name="l00980"></a>00980 <span class="comment">/** </span>
<a name="l00981"></a>00981 <span class="comment">  Query the channel of the module.</span>
<a name="l00982"></a>00982 <span class="comment">  This will block for up to a 1/2 second waiting for a response from the XBee module.</span>
<a name="l00983"></a>00983 <span class="comment">  @return An integer corresponding to the channel of the module, or negative number on failure.</span>
<a name="l00984"></a>00984 <span class="comment">  </span>
<a name="l00985"></a>00985 <span class="comment">  \par Example</span>
<a name="l00986"></a>00986 <span class="comment">  \code</span>
<a name="l00987"></a>00987 <span class="comment">  int chan = XBeeConfig_RequestChannel( );</span>
<a name="l00988"></a>00988 <span class="comment">  if( chan &gt;= 0 )</span>
<a name="l00989"></a>00989 <span class="comment">  {</span>
<a name="l00990"></a>00990 <span class="comment">    // then we have our channel</span>
<a name="l00991"></a>00991 <span class="comment">  }</span>
<a name="l00992"></a>00992 <span class="comment">  \endcode</span>
<a name="l00993"></a>00993 <span class="comment">*/</span>
<a name="l00994"></a><a class="code" href="group___x_bee.html#ga893d7c545c7b39c0f6909be757751fd">00994</a> <span class="keywordtype">int</span> <a class="code" href="group___x_bee.html#ga893d7c545c7b39c0f6909be757751fd" title="Query the channel of the module.">XBeeConfig_RequestChannel</a>( )
<a name="l00995"></a>00995 {
<a name="l00996"></a>00996   XBeePacket xbp;
<a name="l00997"></a>00997   <a class="code" href="group___x_bee.html#g2c4ec9c048a04f7d7b46850377e51008" title="A convenience function for creating an AT command packet.">XBee_CreateATCommandPacket</a>( &amp;xbp, 0x52, <span class="stringliteral">"CH"</span>, NULL, 0 );
<a name="l00998"></a>00998   <a class="code" href="group___x_bee.html#g88dd9f12ff38f318e59ec8e8283a78d3" title="Send an XBee packet.">XBee_SendPacket</a>( &amp;xbp, 0 );
<a name="l00999"></a>00999   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l01000"></a>01000 }
<a name="l01001"></a>01001 <span class="comment"></span>
<a name="l01002"></a>01002 <span class="comment">/** </span>
<a name="l01003"></a>01003 <span class="comment">  Set the rate at which the module will sample its IO pins.</span>
<a name="l01004"></a>01004 <span class="comment">  When the sample rate is set, the module will sample all its IO pins according to its current IO configuration and send</span>
<a name="l01005"></a>01005 <span class="comment">  a packet with the sample data.  If this is set too low and the IO configuration is sampling too many channels, </span>
<a name="l01006"></a>01006 <span class="comment">  the RF module won't be able to keep up.  You can also adjust how many samples are gathered before a packet is sent.</span>
<a name="l01007"></a>01007 <span class="comment"></span>
<a name="l01008"></a>01008 <span class="comment">  As with the other \b XBeeConfig functions, make sure you're in API mode before trying to use this function.</span>
<a name="l01009"></a>01009 <span class="comment">  @param rate A uint16 specifying the sample rate in milliseconds.</span>
<a name="l01010"></a>01010 <span class="comment">  @return True on success, false on failure.</span>
<a name="l01011"></a>01011 <span class="comment">  @see XBeeConfig_SetIOs( ), XBeeConfig_SetPacketApiMode( )</span>
<a name="l01012"></a>01012 <span class="comment">  </span>
<a name="l01013"></a>01013 <span class="comment">  \par Example</span>
<a name="l01014"></a>01014 <span class="comment">  \code</span>
<a name="l01015"></a>01015 <span class="comment">  XBeeConfig_SetPacketApiMode( );</span>
<a name="l01016"></a>01016 <span class="comment">  XBeeConfig_SetSampleRate( 0x14 );</span>
<a name="l01017"></a>01017 <span class="comment">  \endcode</span>
<a name="l01018"></a>01018 <span class="comment">*/</span>
<a name="l01019"></a><a class="code" href="group___x_bee.html#g35826df514efda2aab33f86cf0e24f2e">01019</a> <span class="keywordtype">void</span> <a class="code" href="group___x_bee.html#g35826df514efda2aab33f86cf0e24f2e" title="Set the rate at which the module will sample its IO pins.">XBeeConfig_SetSampleRate</a>( uint16 rate )
<a name="l01020"></a>01020 {
<a name="l01021"></a>01021   XBeePacket xbp;
<a name="l01022"></a>01022   uint8 params[4]; <span class="comment">// big endian - most significant bit first</span>
<a name="l01023"></a>01023   <a class="code" href="group___x_bee.html#gd357b57c2604013a69ec60e746318f89" title="Convert a 32-bit integer into a big endian array of 4 unsigned 8-bit integers.">XBee_IntToBigEndianArray</a>( rate, params );
<a name="l01024"></a>01024   <a class="code" href="group___x_bee.html#g2c4ec9c048a04f7d7b46850377e51008" title="A convenience function for creating an AT command packet.">XBee_CreateATCommandPacket</a>( &amp;xbp, 0, <span class="stringliteral">"IR"</span>, params, 4 );
<a name="l01025"></a>01025   <a class="code" href="group___x_bee.html#g88dd9f12ff38f318e59ec8e8283a78d3" title="Send an XBee packet.">XBee_SendPacket</a>( &amp;xbp, 4 );
<a name="l01026"></a>01026 }
<a name="l01027"></a>01027 <span class="comment"></span>
<a name="l01028"></a>01028 <span class="comment">/** </span>
<a name="l01029"></a>01029 <span class="comment">  Query the sample rate of the module.</span>
<a name="l01030"></a>01030 <span class="comment">  This will block for up to a 1/2 second waiting for a response from the XBee module.</span>
<a name="l01031"></a>01031 <span class="comment">  @return An integer corresponding to the sample rate of the module, or negative number on failure.</span>
<a name="l01032"></a>01032 <span class="comment">  </span>
<a name="l01033"></a>01033 <span class="comment">  \par Example</span>
<a name="l01034"></a>01034 <span class="comment">  \code</span>
<a name="l01035"></a>01035 <span class="comment">  int rate = XBeeConfig_RequestSampleRate( );</span>
<a name="l01036"></a>01036 <span class="comment">  if( rate &gt;= 0 )</span>
<a name="l01037"></a>01037 <span class="comment">  {</span>
<a name="l01038"></a>01038 <span class="comment">    // then we have our rate</span>
<a name="l01039"></a>01039 <span class="comment">  }</span>
<a name="l01040"></a>01040 <span class="comment">  \endcode</span>
<a name="l01041"></a>01041 <span class="comment">*/</span>
<a name="l01042"></a><a class="code" href="group___x_bee.html#g00ce3bb898806b5cf6bb257dfb24ca9c">01042</a> <span class="keywordtype">int</span> <a class="code" href="group___x_bee.html#g00ce3bb898806b5cf6bb257dfb24ca9c" title="Query the sample rate of the module.">XBeeConfig_RequestSampleRate</a>( )
<a name="l01043"></a>01043 {
<a name="l01044"></a>01044   XBeePacket xbp;
<a name="l01045"></a>01045   <a class="code" href="group___x_bee.html#g2c4ec9c048a04f7d7b46850377e51008" title="A convenience function for creating an AT command packet.">XBee_CreateATCommandPacket</a>( &amp;xbp, 0x52, <span class="stringliteral">"IR"</span>, NULL, 0 );
<a name="l01046"></a>01046   <a class="code" href="group___x_bee.html#g88dd9f12ff38f318e59ec8e8283a78d3" title="Send an XBee packet.">XBee_SendPacket</a>( &amp;xbp, 0 );
<a name="l01047"></a>01047   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l01048"></a>01048 }
<a name="l01049"></a>01049 <span class="comment"></span>
<a name="l01050"></a>01050 <span class="comment">/** </span>
<a name="l01051"></a>01051 <span class="comment">  Convert a 32-bit integer into a big endian array of 4 unsigned 8-bit integers.</span>
<a name="l01052"></a>01052 <span class="comment">  This is mostly useful for sending AT Command packets.</span>
<a name="l01053"></a>01053 <span class="comment">  @param value The value to convert.</span>
<a name="l01054"></a>01054 <span class="comment">  @param array An array of 4 unsigned 8-bit integers (uint8).  Be sure you have 4.</span>
<a name="l01055"></a>01055 <span class="comment">  \par Example</span>
<a name="l01056"></a>01056 <span class="comment">  see XBee_CreateATCommandPacket( ) for an example.</span>
<a name="l01057"></a>01057 <span class="comment">  \endcode</span>
<a name="l01058"></a>01058 <span class="comment">*/</span>
<a name="l01059"></a><a class="code" href="group___x_bee.html#gd357b57c2604013a69ec60e746318f89">01059</a> <span class="keywordtype">void</span> <a class="code" href="group___x_bee.html#gd357b57c2604013a69ec60e746318f89" title="Convert a 32-bit integer into a big endian array of 4 unsigned 8-bit integers.">XBee_IntToBigEndianArray</a>( <span class="keywordtype">int</span> value, uint8* array )
<a name="l01060"></a>01060 {
<a name="l01061"></a>01061   array[0] = (value &gt;&gt; 24) &amp; 0xFF;
<a name="l01062"></a>01062   array[1] = (value &gt;&gt; 16) &amp; 0xFF;
<a name="l01063"></a>01063   array[2] = (value &gt;&gt; 8) &amp; 0xFF;
<a name="l01064"></a>01064   array[3] = value &amp; 0xFF;
<a name="l01065"></a>01065 }
<a name="l01066"></a>01066 <span class="comment"></span>
<a name="l01067"></a>01067 <span class="comment">/** @}</span>
<a name="l01068"></a>01068 <span class="comment">*/</span>
<a name="l01069"></a>01069 <span class="comment"></span>
<a name="l01070"></a>01070 <span class="comment">/** </span>
<a name="l01071"></a>01071 <span class="comment">  Unpack IO values from an incoming packet.</span>
<a name="l01072"></a>01072 <span class="comment">  @param packet The XBeePacket to read from.</span>
<a name="l01073"></a>01073 <span class="comment">  @param inputs An array of at least 9 integers, which will be populated with the values of the 9 input lines on the XBee module.</span>
<a name="l01074"></a>01074 <span class="comment">  @return 1 if IO values were successfully retrieved, otherwise zero.</span>
<a name="l01075"></a>01075 <span class="comment">  </span>
<a name="l01076"></a>01076 <span class="comment">  \par Example</span>
<a name="l01077"></a>01077 <span class="comment">  \code</span>
<a name="l01078"></a>01078 <span class="comment">  XBeePacket rxPacket;</span>
<a name="l01079"></a>01079 <span class="comment">  if( XBee_GetPacket( &amp;rxPacket, 0 ) )</span>
<a name="l01080"></a>01080 <span class="comment">  {</span>
<a name="l01081"></a>01081 <span class="comment">    int inputs[9];</span>
<a name="l01082"></a>01082 <span class="comment">    if( XBee_GetIOValues( &amp;rxPacket, inputs ) )</span>
<a name="l01083"></a>01083 <span class="comment">    {</span>
<a name="l01084"></a>01084 <span class="comment">      // process new input values here</span>
<a name="l01085"></a>01085 <span class="comment">    }</span>
<a name="l01086"></a>01086 <span class="comment">  }</span>
<a name="l01087"></a>01087 <span class="comment">  \endcode</span>
<a name="l01088"></a>01088 <span class="comment">*/</span>
<a name="l01089"></a>01089 <span class="keyword">static</span> <span class="keywordtype">bool</span> XBee_GetIOValues( XBeePacket* packet, <span class="keywordtype">int</span> *inputs )
<a name="l01090"></a>01090 {
<a name="l01091"></a>01091   <span class="keywordflow">if</span>( packet-&gt;apiId == XBEE_IO16 || packet-&gt;apiId == XBEE_IO64 )
<a name="l01092"></a>01092   {
<a name="l01093"></a>01093     <span class="keywordtype">int</span> i;
<a name="l01094"></a>01094     <span class="keyword">static</span> <span class="keywordtype">bool</span> enabled;
<a name="l01095"></a>01095     <span class="keywordtype">int</span> digitalins = 0;
<a name="l01096"></a>01096     uint8* p;
<a name="l01097"></a>01097     <span class="keywordtype">int</span> channelIndicators;
<a name="l01098"></a>01098     <span class="keywordflow">if</span>( packet-&gt;apiId == XBEE_IO16 )
<a name="l01099"></a>01099     {
<a name="l01100"></a>01100       p = packet-&gt;io16.data;
<a name="l01101"></a>01101       channelIndicators = (packet-&gt;io16.channelIndicators[0] &lt;&lt; 0x08) | packet-&gt;io16.channelIndicators[1];
<a name="l01102"></a>01102     }
<a name="l01103"></a>01103     <span class="keywordflow">else</span> <span class="comment">// packet-&gt;apiId == XBEE_IO64</span>
<a name="l01104"></a>01104     {
<a name="l01105"></a>01105       p = packet-&gt;io64.data;
<a name="l01106"></a>01106       channelIndicators = (packet-&gt;io64.channelIndicators[0] &lt;&lt; 0x08) | packet-&gt;io64.channelIndicators[1];
<a name="l01107"></a>01107     }
<a name="l01108"></a>01108     
<a name="l01109"></a>01109     <span class="keywordflow">for</span>( i = 0; i &lt; XBEE_INPUTS; i++ )
<a name="l01110"></a>01110     {
<a name="l01111"></a>01111       enabled = channelIndicators &amp; 1;
<a name="l01112"></a>01112       channelIndicators &gt;&gt;= 1;
<a name="l01113"></a>01113       <span class="keywordflow">if</span>( i &lt; 9 ) <span class="comment">// digital ins</span>
<a name="l01114"></a>01114       {
<a name="l01115"></a>01115         <span class="keywordflow">if</span>( enabled )
<a name="l01116"></a>01116         {
<a name="l01117"></a>01117           <span class="keywordflow">if</span>( !digitalins )
<a name="l01118"></a>01118           {
<a name="l01119"></a>01119             <span class="keywordtype">int</span> dig0 = *p++ &lt;&lt; 0x08;
<a name="l01120"></a>01120             digitalins = dig0 | *p++;
<a name="l01121"></a>01121           }
<a name="l01122"></a>01122           inputs[i] = ((digitalins &gt;&gt; i) &amp; 1) * 1023;
<a name="l01123"></a>01123         }
<a name="l01124"></a>01124         <span class="keywordflow">else</span>
<a name="l01125"></a>01125           inputs[i] = 0;
<a name="l01126"></a>01126       }
<a name="l01127"></a>01127       <span class="keywordflow">else</span> <span class="comment">// analog ins</span>
<a name="l01128"></a>01128       {
<a name="l01129"></a>01129         <span class="keywordflow">if</span>( enabled )
<a name="l01130"></a>01130         {
<a name="l01131"></a>01131           <span class="keywordtype">int</span> ain_msb = *p++ &lt;&lt; 0x08;
<a name="l01132"></a>01132           inputs[i-9] = ain_msb | *p++;
<a name="l01133"></a>01133         }
<a name="l01134"></a>01134         <span class="keywordflow">else</span>
<a name="l01135"></a>01135           inputs[i-9] = 0;
<a name="l01136"></a>01136       }
<a name="l01137"></a>01137     }
<a name="l01138"></a>01138     <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l01139"></a>01139   }
<a name="l01140"></a>01140   <span class="keywordflow">else</span>
<a name="l01141"></a>01141     <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l01142"></a>01142 }
<a name="l01143"></a>01143 
<a name="l01144"></a>01144 <span class="preprocessor">#ifdef OSC</span>
<a name="l01145"></a>01145 <span class="preprocessor"></span><span class="preprocessor">#include "osc.h"</span>
<a name="l01146"></a>01146 <span class="comment"></span>
<a name="l01147"></a>01147 <span class="comment">/** \defgroup XBeeOSC XBee - OSC</span>
<a name="l01148"></a>01148 <span class="comment">  Communicate with XBee modules with the Make Controller Kit via OSC.</span>
<a name="l01149"></a>01149 <span class="comment">  \ingroup OSC</span>
<a name="l01150"></a>01150 <span class="comment">  </span>
<a name="l01151"></a>01151 <span class="comment">  \section devices Devices</span>
<a name="l01152"></a>01152 <span class="comment">  There can only be one XBee board connected to the Make Controller Kit's serial port at a time,</span>
<a name="l01153"></a>01153 <span class="comment">  so there is not a device index in XBee OSC messages.</span>
<a name="l01154"></a>01154 <span class="comment">  </span>
<a name="l01155"></a>01155 <span class="comment">  \section properties Properties</span>
<a name="l01156"></a>01156 <span class="comment">  The XBee system has the following properties:</span>
<a name="l01157"></a>01157 <span class="comment">  - autosend</span>
<a name="l01158"></a>01158 <span class="comment">  - io16</span>
<a name="l01159"></a>01159 <span class="comment">  - io64</span>
<a name="l01160"></a>01160 <span class="comment">  - rx16</span>
<a name="l01161"></a>01161 <span class="comment">  - rx64</span>
<a name="l01162"></a>01162 <span class="comment">  - tx16</span>
<a name="l01163"></a>01163 <span class="comment">  - tx64</span>
<a name="l01164"></a>01164 <span class="comment">  - tx-status</span>
<a name="l01165"></a>01165 <span class="comment">  - active</span>
<a name="l01166"></a>01166 <span class="comment">  </span>
<a name="l01167"></a>01167 <span class="comment">  \par Autosend</span>
<a name="l01168"></a>01168 <span class="comment">  The \b autosend property corresponds to whether the Make Controller will automatically send out </span>
<a name="l01169"></a>01169 <span class="comment">  messages it receives from a connected XBee module.  By default, this is turned off.</span>
<a name="l01170"></a>01170 <span class="comment">  To turn this on, send the message</span>
<a name="l01171"></a>01171 <span class="comment">  \verbatim /xbee/autosend 1 \endverbatim</span>
<a name="l01172"></a>01172 <span class="comment">  and to turn it off, send</span>
<a name="l01173"></a>01173 <span class="comment">  \verbatim /xbee/autosend 0 \endverbatim</span>
<a name="l01174"></a>01174 <span class="comment">  All autosend messages send at the same interval.  You can set this interval, in </span>
<a name="l01175"></a>01175 <span class="comment">  milliseconds, by sending the message</span>
<a name="l01176"></a>01176 <span class="comment">  \verbatim /system/autosend-interval 10 \endverbatim</span>
<a name="l01177"></a>01177 <span class="comment">  so that messages will be sent every 10 milliseconds.  This can be anywhere from 1 to 5000 milliseconds.</span>
<a name="l01178"></a>01178 <span class="comment">  \par</span>
<a name="l01179"></a>01179 <span class="comment">  You also need to select whether the board should send to you over USB or Ethernet.  Send</span>
<a name="l01180"></a>01180 <span class="comment">  \verbatim /system/autosend-usb 1 \endverbatim</span>
<a name="l01181"></a>01181 <span class="comment">  to send via USB, and </span>
<a name="l01182"></a>01182 <span class="comment">  \verbatim /system/autosend-udp 1 \endverbatim</span>
<a name="l01183"></a>01183 <span class="comment">  to send via Ethernet.  Via Ethernet, the board will send messages to the last address it received a message from.</span>
<a name="l01184"></a>01184 <span class="comment">  </span>
<a name="l01185"></a>01185 <span class="comment">  \par io16</span>
<a name="l01186"></a>01186 <span class="comment">  The \b io16 property corresponds to an incoming message from an XBee module with samples</span>
<a name="l01187"></a>01187 <span class="comment">  from its IO pins.  The best way to use this is to turn the XBee system's autosend property</span>
<a name="l01188"></a>01188 <span class="comment">  on - then the Make Controller can relay io16 messages as soon as they're received.</span>
<a name="l01189"></a>01189 <span class="comment">  \par</span>
<a name="l01190"></a>01190 <span class="comment">  Once you've turned on autosend, if there are boards on your network that are sending IO packets, </span>
<a name="l01191"></a>01191 <span class="comment">  you'll receive messages like</span>
<a name="l01192"></a>01192 <span class="comment">  \verbatim /xbee/io16 1234 28 12 0 0 1023 1023 0 512 0 1023 \endverbatim</span>
<a name="l01193"></a>01193 <span class="comment">  The first two numbers are:</span>
<a name="l01194"></a>01194 <span class="comment">  -# the address of the module that sent the message (1234 in the example above)</span>
<a name="l01195"></a>01195 <span class="comment">  -# signal strength (28 above) </span>
<a name="l01196"></a>01196 <span class="comment">  \par</span>
<a name="l01197"></a>01197 <span class="comment">  The next 9 numbers are the values from the 9 IO pins on the XBee module.</span>
<a name="l01198"></a>01198 <span class="comment">  </span>
<a name="l01199"></a>01199 <span class="comment">  \par io64</span>
<a name="l01200"></a>01200 <span class="comment">  The \b io64 property corresponds to an incoming message from an XBee module with samples from its IO</span>
<a name="l01201"></a>01201 <span class="comment">  pins.  This message is just like the \b io16 message, except it's coming from a board with a 64-bit</span>
<a name="l01202"></a>01202 <span class="comment">  address, rather than a 16-bit address.  The structure of the message is the same (see above).</span>
<a name="l01203"></a>01203 <span class="comment">  </span>
<a name="l01204"></a>01204 <span class="comment">  \par rx16</span>
<a name="l01205"></a>01205 <span class="comment">  The \b rx16 property corresponds to an incoming message from a 16-bit address XBee module with arbitrary data.  </span>
<a name="l01206"></a>01206 <span class="comment">  The best way to use this is to turn the XBee system's autosend property</span>
<a name="l01207"></a>01207 <span class="comment">  on - then the Make Controller can relay rx16 messages as soon as they're received.</span>
<a name="l01208"></a>01208 <span class="comment">  \par</span>
<a name="l01209"></a>01209 <span class="comment">  Once you've turned on autosend, if there are boards on your network that are sending IO packets, </span>
<a name="l01210"></a>01210 <span class="comment">  you'll receive messages like</span>
<a name="l01211"></a>01211 <span class="comment">  \verbatim /xbee/rx16 1234 28 0 [43 44 45 32 46 47 48] \endverbatim</span>
<a name="l01212"></a>01212 <span class="comment">  The first three numbers are:</span>
<a name="l01213"></a>01213 <span class="comment">  -# the address of the module that sent the message (1234 in the example above)</span>
<a name="l01214"></a>01214 <span class="comment">  -# signal strength (28 above)</span>
<a name="l01215"></a>01215 <span class="comment">  -# the options byte (0 above), respectively. </span>
<a name="l01216"></a>01216 <span class="comment">  \par</span>
<a name="l01217"></a>01217 <span class="comment">  Following those is an OSC blob with the data (enclosed in square brackets above).  These are the hex values for each byte of data.</span>
<a name="l01218"></a>01218 <span class="comment">  </span>
<a name="l01219"></a>01219 <span class="comment">  \par rx64</span>
<a name="l01220"></a>01220 <span class="comment">  The \b rx64 property corresponds to an incoming message from an XBee module with samples from its IO</span>
<a name="l01221"></a>01221 <span class="comment">  pins.  This message is just like the \b io16 message, except it's coming from a board with a 64-bit</span>
<a name="l01222"></a>01222 <span class="comment">  address, rather than a 16-bit address.  The structure of the message is the same (see above).</span>
<a name="l01223"></a>01223 <span class="comment"></span>
<a name="l01224"></a>01224 <span class="comment">  \par Transmit Status</span>
<a name="l01225"></a>01225 <span class="comment">  The \b tx-status property gives you the status of a previously sent message.  It tells you the frameID of the message</span>
<a name="l01226"></a>01226 <span class="comment">  that was sent and its status, which can be one of:</span>
<a name="l01227"></a>01227 <span class="comment">  - \b Success.  Message was successfully transmitted and received.</span>
<a name="l01228"></a>01228 <span class="comment">  - &lt;b&gt; No acknowledgement received&lt;/b&gt;.  The message was successfully sent, but not successfully received on the other end.</span>
<a name="l01229"></a>01229 <span class="comment">  - &lt;b&gt; CCA Failure&lt;/b&gt;.</span>
<a name="l01230"></a>01230 <span class="comment">  - \b Purged.</span>
<a name="l01231"></a>01231 <span class="comment">  \par</span>
<a name="l01232"></a>01232 <span class="comment">  If you don't include a frameID for the message that you sent, a tx-status message will not be generated.  An example</span>
<a name="l01233"></a>01233 <span class="comment">  tx-status message will look like</span>
<a name="l01234"></a>01234 <span class="comment">  \verbatim /xbee/tx-status 52 Success \endverbatim</span>
<a name="l01235"></a>01235 <span class="comment">  where 52 is the frameID and "Success" is the status.</span>
<a name="l01236"></a>01236 <span class="comment">  </span>
<a name="l01237"></a>01237 <span class="comment">  \par Active</span>
<a name="l01238"></a>01238 <span class="comment">  The \b active property corresponds to the active state of the XBee system.</span>
<a name="l01239"></a>01239 <span class="comment">  If you're not seeing appropriate responses to your messages to the XBee system, </span>
<a name="l01240"></a>01240 <span class="comment">  check whether it's active by sending the message</span>
<a name="l01241"></a>01241 <span class="comment">  \verbatim /xbee/active \endverbatim</span>
<a name="l01242"></a>01242 <span class="comment">  \par</span>
<a name="l01243"></a>01243 <span class="comment">  You can set the active flag by sending</span>
<a name="l01244"></a>01244 <span class="comment">  \verbatim /xbee/active 1 \endverbatim</span>
<a name="l01245"></a>01245 <span class="comment">*/</span>
<a name="l01246"></a>01246 
<a name="l01247"></a>01247 
<a name="l01248"></a>01248 <span class="keywordtype">bool</span> XBee_GetAutoSend( <span class="keywordtype">bool</span> init )
<a name="l01249"></a>01249 {
<a name="l01250"></a>01250   <a class="code" href="group___x_bee.html#gf99a020a130eed99733b529b8cdb84a8" title="Controls the active state of the XBee subsystem.">XBee_SetActive</a>( 1 );
<a name="l01251"></a>01251   <span class="keywordflow">if</span>( init )
<a name="l01252"></a>01252   {
<a name="l01253"></a>01253     <span class="keywordtype">int</span> autosend;
<a name="l01254"></a>01254     <a class="code" href="group___eeprom.html#g95bd921a774026d4cc96b20d6a20d9dd" title="Read data from the EEPROM.">Eeprom_Read</a>( EEPROM_XBEE_AUTOSEND, (uchar*)&amp;autosend, 4 );
<a name="l01255"></a>01255     XBee-&gt;autosend = (autosend == 1 ) ? 1 : 0;
<a name="l01256"></a>01256   }
<a name="l01257"></a>01257   <span class="keywordflow">return</span> XBee-&gt;autosend;
<a name="l01258"></a>01258 }
<a name="l01259"></a>01259 
<a name="l01260"></a>01260 <span class="keywordtype">void</span> XBee_SetAutoSend( <span class="keywordtype">int</span> onoff )
<a name="l01261"></a>01261 {
<a name="l01262"></a>01262   <a class="code" href="group___x_bee.html#gf99a020a130eed99733b529b8cdb84a8" title="Controls the active state of the XBee subsystem.">XBee_SetActive</a>( 1 );  
<a name="l01263"></a>01263   <span class="keywordflow">if</span>( XBee-&gt;autosend != onoff )
<a name="l01264"></a>01264   {
<a name="l01265"></a>01265     XBee-&gt;autosend = onoff;
<a name="l01266"></a>01266     <a class="code" href="group___eeprom.html#g03d8b089bb0d04209e032ea233218d3a" title="Write data to the EEPROM.">Eeprom_Write</a>( EEPROM_XBEE_AUTOSEND, (uchar*)&amp;onoff, 4 );
<a name="l01267"></a>01267   }
<a name="l01268"></a>01268 }
<a name="l01269"></a>01269 
<a name="l01270"></a>01270 <span class="keyword">static</span> <span class="keywordtype">char</span>* XBeeOsc_Name = <span class="stringliteral">"xbee"</span>;
<a name="l01271"></a>01271 <span class="keyword">static</span> <span class="keywordtype">char</span>* XBeeOsc_PropertyNames[] = { <span class="stringliteral">"active"</span>, <span class="stringliteral">"io16"</span>, <span class="stringliteral">"rx16"</span>, <span class="stringliteral">"autosend"</span>, <span class="stringliteral">"get-message"</span>, 0 }; <span class="comment">// must have a trailing 0</span>
<a name="l01272"></a>01272 
<a name="l01273"></a>01273 <span class="keywordtype">int</span> XBeeOsc_PropertySet( <span class="keywordtype">int</span> property, <span class="keywordtype">char</span>* typedata, <span class="keywordtype">int</span> channel );
<a name="l01274"></a>01274 <span class="keywordtype">int</span> XBeeOsc_PropertyGet( <span class="keywordtype">int</span> property, <span class="keywordtype">int</span> channel );
<a name="l01275"></a>01275 
<a name="l01276"></a>01276 <span class="keyword">const</span> <span class="keywordtype">char</span>* XBeeOsc_GetName( <span class="keywordtype">void</span> )
<a name="l01277"></a>01277 {
<a name="l01278"></a>01278   <span class="keywordflow">return</span> XBeeOsc_Name;
<a name="l01279"></a>01279 }
<a name="l01280"></a>01280 
<a name="l01281"></a>01281 <span class="keywordtype">int</span> XBeeOsc_ReceiveMessage( <span class="keywordtype">int</span> channel, <span class="keywordtype">char</span>* message, <span class="keywordtype">int</span> length )
<a name="l01282"></a>01282 {
<a name="l01283"></a>01283   <a class="code" href="group___x_bee.html#gf99a020a130eed99733b529b8cdb84a8" title="Controls the active state of the XBee subsystem.">XBee_SetActive</a>( 1 );
<a name="l01284"></a>01284   <span class="keywordtype">int</span> status = <a class="code" href="group___o_s_c_a_p_i.html#gbb24f5e4a4c94eef2c321020941c45b3" title="Receive data for a subsystem that receives a variety of different data types.">Osc_GeneralReceiverHelper</a>( channel, message, length, 
<a name="l01285"></a>01285                                 XBeeOsc_Name,
<a name="l01286"></a>01286                                 XBeeOsc_PropertySet, XBeeOsc_PropertyGet, 
<a name="l01287"></a>01287                                 XBeeOsc_PropertyNames );
<a name="l01288"></a>01288 
<a name="l01289"></a>01289   <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l01290"></a>01290     <span class="keywordflow">return</span> Osc_SendError( channel, XBeeOsc_Name, status );
<a name="l01291"></a>01291 
<a name="l01292"></a>01292   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l01293"></a>01293 }
<a name="l01294"></a>01294 
<a name="l01295"></a>01295 <span class="keywordtype">int</span> XBeeOsc_PropertySet( <span class="keywordtype">int</span> property, <span class="keywordtype">char</span>* typedata, <span class="keywordtype">int</span> channel )
<a name="l01296"></a>01296 {
<a name="l01297"></a>01297   <span class="keywordflow">switch</span> ( property )
<a name="l01298"></a>01298   {
<a name="l01299"></a>01299     <span class="keywordflow">case</span> 0: <span class="comment">// active</span>
<a name="l01300"></a>01300     {
<a name="l01301"></a>01301       <span class="keywordtype">int</span> value;
<a name="l01302"></a>01302       <span class="keywordtype">int</span> count = Osc_ExtractData( typedata, <span class="stringliteral">"i"</span>, &amp;value );
<a name="l01303"></a>01303       <span class="keywordflow">if</span> ( count != 1 )
<a name="l01304"></a>01304         <span class="keywordflow">return</span> <a class="code" href="group___o_s_c_a_p_i.html#g852200f3d0612d90d73e9f233392ec2d" title="Send an error back via OSC from your subsystem.">Osc_SubsystemError</a>( channel, XBeeOsc_Name, <span class="stringliteral">"Incorrect data - need an int"</span> );
<a name="l01305"></a>01305 
<a name="l01306"></a>01306       <a class="code" href="group___x_bee.html#gf99a020a130eed99733b529b8cdb84a8" title="Controls the active state of the XBee subsystem.">XBee_SetActive</a>( value );
<a name="l01307"></a>01307       <span class="keywordflow">break</span>;
<a name="l01308"></a>01308     }
<a name="l01309"></a>01309     <span class="keywordflow">case</span> 1: <span class="comment">// io16</span>
<a name="l01310"></a>01310     <span class="keywordflow">case</span> 2: <span class="comment">// rx16</span>
<a name="l01311"></a>01311       <span class="keywordflow">return</span> <a class="code" href="group___o_s_c_a_p_i.html#g852200f3d0612d90d73e9f233392ec2d" title="Send an error back via OSC from your subsystem.">Osc_SubsystemError</a>( channel, XBeeOsc_Name, <span class="stringliteral">"Property is read-only"</span> );
<a name="l01312"></a>01312     <span class="keywordflow">case</span> 3: <span class="comment">// autosend</span>
<a name="l01313"></a>01313     {
<a name="l01314"></a>01314       <span class="keywordtype">int</span> value;
<a name="l01315"></a>01315       <span class="keywordtype">int</span> count = Osc_ExtractData( typedata, <span class="stringliteral">"i"</span>, &amp;value );
<a name="l01316"></a>01316       <span class="keywordflow">if</span> ( count != 1 )
<a name="l01317"></a>01317         <span class="keywordflow">return</span> <a class="code" href="group___o_s_c_a_p_i.html#g852200f3d0612d90d73e9f233392ec2d" title="Send an error back via OSC from your subsystem.">Osc_SubsystemError</a>( channel, XBeeOsc_Name, <span class="stringliteral">"Incorrect data - need an int"</span> );
<a name="l01318"></a>01318 
<a name="l01319"></a>01319       XBee_SetAutoSend( value );
<a name="l01320"></a>01320       <span class="keywordflow">break</span>;
<a name="l01321"></a>01321     }
<a name="l01322"></a>01322   }
<a name="l01323"></a>01323   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l01324"></a>01324 }
<a name="l01325"></a>01325 
<a name="l01326"></a>01326 <span class="keywordtype">int</span> XBeeOsc_PropertyGet( <span class="keywordtype">int</span> property, <span class="keywordtype">int</span> channel )
<a name="l01327"></a>01327 {
<a name="l01328"></a>01328   <span class="keywordflow">switch</span> ( property )
<a name="l01329"></a>01329   {
<a name="l01330"></a>01330     <span class="keywordflow">case</span> 0: <span class="comment">// active</span>
<a name="l01331"></a>01331     {
<a name="l01332"></a>01332       <span class="keywordtype">char</span> address[ OSC_SCRATCH_SIZE ];
<a name="l01333"></a>01333       <span class="keywordtype">int</span> value = <a class="code" href="group___x_bee.html#gb9837489c49f82e3ca25f0da44c58a13" title="Read the active state of the XBee subsystem.">XBee_GetActive</a>( );
<a name="l01334"></a>01334       snprintf( address, OSC_SCRATCH_SIZE, <span class="stringliteral">"/%s/%s"</span>, XBeeOsc_Name, XBeeOsc_PropertyNames[ property ] ); 
<a name="l01335"></a>01335       Osc_CreateMessage( channel, address, <span class="stringliteral">",i"</span>, value );
<a name="l01336"></a>01336       <span class="keywordflow">break</span>;
<a name="l01337"></a>01337     }
<a name="l01338"></a>01338     <span class="keywordflow">case</span> 1: <span class="comment">// io16</span>
<a name="l01339"></a>01339     <span class="keywordflow">case</span> 2: <span class="comment">// rx16</span>
<a name="l01340"></a>01340       <span class="keywordflow">return</span> <a class="code" href="group___o_s_c_a_p_i.html#g852200f3d0612d90d73e9f233392ec2d" title="Send an error back via OSC from your subsystem.">Osc_SubsystemError</a>( channel, XBeeOsc_Name, <span class="stringliteral">"Can't get specific messages - use /xbee/get-message instead."</span> );
<a name="l01341"></a>01341     <span class="keywordflow">case</span> 3: <span class="comment">// autosend</span>
<a name="l01342"></a>01342     {
<a name="l01343"></a>01343       <span class="keywordtype">char</span> address[ OSC_SCRATCH_SIZE ];
<a name="l01344"></a>01344       <span class="keywordtype">int</span> value = XBee_GetAutoSend( <span class="keyword">false</span> );
<a name="l01345"></a>01345       snprintf( address, OSC_SCRATCH_SIZE, <span class="stringliteral">"/%s/%s"</span>, XBeeOsc_Name, XBeeOsc_PropertyNames[ property ] ); 
<a name="l01346"></a>01346       Osc_CreateMessage( channel, address, <span class="stringliteral">",i"</span>, value );
<a name="l01347"></a>01347       <span class="keywordflow">break</span>;
<a name="l01348"></a>01348     } 
<a name="l01349"></a>01349     <span class="keywordflow">case</span> 4: <span class="comment">// get-message</span>
<a name="l01350"></a>01350     {
<a name="l01351"></a>01351       XBeePacket xbp;
<a name="l01352"></a>01352       <span class="keywordflow">if</span>( <a class="code" href="group___x_bee.html#gb6f350a2b5dea977c3ab6244e4984833" title="Receive an incoming XBee packet.">XBee_GetPacket</a>( &amp;xbp, XBEE_OSC_RX_TIMEOUT ) )
<a name="l01353"></a>01353         XBeeOsc_HandleNewPacket( XBee-&gt;currentPkt, channel );
<a name="l01354"></a>01354       <span class="keywordflow">break</span>;
<a name="l01355"></a>01355     }
<a name="l01356"></a>01356   }
<a name="l01357"></a>01357   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l01358"></a>01358 }
<a name="l01359"></a>01359 <span class="comment"></span>
<a name="l01360"></a>01360 <span class="comment">/** \defgroup XBeeConfigOSC XBee Configuration - OSC</span>
<a name="l01361"></a>01361 <span class="comment">  Configure an XBee module connected to your Make Controller Kit via OSC.</span>
<a name="l01362"></a>01362 <span class="comment">  \ingroup OSC</span>
<a name="l01363"></a>01363 <span class="comment">  </span>
<a name="l01364"></a>01364 <span class="comment">  \section devices Devices</span>
<a name="l01365"></a>01365 <span class="comment">  There can only be one XBee board connected to the Make Controller Kit's serial port at a time,</span>
<a name="l01366"></a>01366 <span class="comment">  so there is not a device index in XBee Config OSC messages.</span>
<a name="l01367"></a>01367 <span class="comment">  </span>
<a name="l01368"></a>01368 <span class="comment">  \section properties Properties</span>
<a name="l01369"></a>01369 <span class="comment">  The XBee Config system has the following properties:</span>
<a name="l01370"></a>01370 <span class="comment">  - write</span>
<a name="l01371"></a>01371 <span class="comment">  - get-message</span>
<a name="l01372"></a>01372 <span class="comment">  - packet-mode</span>
<a name="l01373"></a>01373 <span class="comment">  - samplerate</span>
<a name="l01374"></a>01374 <span class="comment">  - address</span>
<a name="l01375"></a>01375 <span class="comment">  - panid</span>
<a name="l01376"></a>01376 <span class="comment">  - channel</span>
<a name="l01377"></a>01377 <span class="comment">  - at-command</span>
<a name="l01378"></a>01378 <span class="comment">  - io</span>
<a name="l01379"></a>01379 <span class="comment">  - active</span>
<a name="l01380"></a>01380 <span class="comment"></span>
<a name="l01381"></a>01381 <span class="comment">  Reading values from the XBee Config system is a bit different than the other systems.  Because we need to see any messages</span>
<a name="l01382"></a>01382 <span class="comment">  that arrive at the XBee module and not just the one we're requesting at a given moment, to get any message back you need to </span>
<a name="l01383"></a>01383 <span class="comment">  use the \b get-message property.  Imagine the case where we want to ask the module its address, but another module is busy </span>
<a name="l01384"></a>01384 <span class="comment">  sending us sensor values.  If we waited for the address message, we'd miss all the sensor values.  </span>
<a name="l01385"></a>01385 <span class="comment"></span>
<a name="l01386"></a>01386 <span class="comment">  So to read a value, first send the request then call \b get-message until you get the response you're looking for.</span>
<a name="l01387"></a>01387 <span class="comment">  If you have autosend turned on, it will get messages for you, so you just need to send the request - this is much</span>
<a name="l01388"></a>01388 <span class="comment">  easier.</span>
<a name="l01389"></a>01389 <span class="comment">  </span>
<a name="l01390"></a>01390 <span class="comment">  \par Write</span>
<a name="l01391"></a>01391 <span class="comment">  When you change any of the paramters of your XBee module, it will by default revert back to its previous settings</span>
<a name="l01392"></a>01392 <span class="comment">  when it gets powered down.  The \b write property sets the current values (all of them) into memory.</span>
<a name="l01393"></a>01393 <span class="comment">  \par</span>
<a name="l01394"></a>01394 <span class="comment">  For example, to set the sample rate to 100 milliseconds, and save it permanently, send the messages</span>
<a name="l01395"></a>01395 <span class="comment">  \verbatim </span>
<a name="l01396"></a>01396 <span class="comment">  /xbeeconfig/samplerate 100</span>
<a name="l01397"></a>01397 <span class="comment">  /xbeeconfig/write 1 \endverbatim</span>
<a name="l01398"></a>01398 <span class="comment"></span>
<a name="l01399"></a>01399 <span class="comment">  \par Get Message</span>
<a name="l01400"></a>01400 <span class="comment">  The \b get-message property fetches the most recent message received by the XBee module.  If you have autosend</span>
<a name="l01401"></a>01401 <span class="comment">  turned on, you don't need to use get-message and, in fact, it won't have any effect.</span>
<a name="l01402"></a>01402 <span class="comment">  To get a message from your XBee module, send the message</span>
<a name="l01403"></a>01403 <span class="comment">  \verbatim /xbeeconfig/get-message\endverbatim</span>
<a name="l01404"></a>01404 <span class="comment">  and the board will send one back if there were any available.</span>
<a name="l01405"></a>01405 <span class="comment">  </span>
<a name="l01406"></a>01406 <span class="comment">  \par Sample Rate</span>
<a name="l01407"></a>01407 <span class="comment">  The \b samplerate property corresponds to how often the XBee module will sample its IO pins and send a message</span>
<a name="l01408"></a>01408 <span class="comment">  with those values.  If it's set to 0, the module will not sample its IO pins.  The maximum sample rate is 65535.</span>
<a name="l01409"></a>01409 <span class="comment">  When the sample rate is set very low, the XBee module cannot guarantee that it will be able to keep up with all</span>
<a name="l01410"></a>01410 <span class="comment">  the samples requested of it.</span>
<a name="l01411"></a>01411 <span class="comment">  \par</span>
<a name="l01412"></a>01412 <span class="comment">  To set the sample rate to once a second (every 1000 milliseconds), send the message</span>
<a name="l01413"></a>01413 <span class="comment">  \verbatim /xbeeconfig/samplerate 1000\endverbatim</span>
<a name="l01414"></a>01414 <span class="comment">  To read the sample rate, send the message</span>
<a name="l01415"></a>01415 <span class="comment">  \verbatim /xbeeconfig/samplerate \endverbatim</span>
<a name="l01416"></a>01416 <span class="comment"></span>
<a name="l01417"></a>01417 <span class="comment">  \par Address</span>
<a name="l01418"></a>01418 <span class="comment">  The \b address property corresponds to the address of the XBee module.  Valid ranges for the address are</span>
<a name="l01419"></a>01419 <span class="comment">  from 0 - 65535.</span>
<a name="l01420"></a>01420 <span class="comment">  \par</span>
<a name="l01421"></a>01421 <span class="comment">  To set the address to 1234, send the message</span>
<a name="l01422"></a>01422 <span class="comment">  \verbatim /xbeeconfig/address 1234\endverbatim</span>
<a name="l01423"></a>01423 <span class="comment">  To read the address, send the message</span>
<a name="l01424"></a>01424 <span class="comment">  \verbatim /xbeeconfig/address \endverbatim</span>
<a name="l01425"></a>01425 <span class="comment"></span>
<a name="l01426"></a>01426 <span class="comment">  \par Channel</span>
<a name="l01427"></a>01427 <span class="comment">  The \b channel property corresponds to the channel of the XBee module.  Valid ranges for the address are</span>
<a name="l01428"></a>01428 <span class="comment">  from 11 - 26 for XBee modules and 12 - 23 for XBee Pro modules.</span>
<a name="l01429"></a>01429 <span class="comment">  \par</span>
<a name="l01430"></a>01430 <span class="comment">  To set the channel to 15, send the message</span>
<a name="l01431"></a>01431 <span class="comment">  \verbatim /xbeeconfig/channel 15\endverbatim</span>
<a name="l01432"></a>01432 <span class="comment">  To read the channel, send the message</span>
<a name="l01433"></a>01433 <span class="comment">  \verbatim /xbeeconfig/channel \endverbatim</span>
<a name="l01434"></a>01434 <span class="comment">  </span>
<a name="l01435"></a>01435 <span class="comment">  \par AT Command</span>
<a name="l01436"></a>01436 <span class="comment">  The \b at-command property allows you to read/write AT commands to your XBee module via OSC.  The most common</span>
<a name="l01437"></a>01437 <span class="comment">  commands are included - samplerate, channel, address, etc. but this is helpful if you need to send any of the</span>
<a name="l01438"></a>01438 <span class="comment">  other commands to your module.  To write a command, specify the 2-letter command and then the value to set.  </span>
<a name="l01439"></a>01439 <span class="comment">  To enable encryption, for example, send the message</span>
<a name="l01440"></a>01440 <span class="comment">  \verbatim /xbeeconfig/at-command EE 1\endverbatim</span>
<a name="l01441"></a>01441 <span class="comment">  \par</span>
<a name="l01442"></a>01442 <span class="comment">  To read a value back via an AT command, simply send the 2-letter command you'd like to get the value for.</span>
<a name="l01443"></a>01443 <span class="comment">  To read back the hardware version, send the message</span>
<a name="l01444"></a>01444 <span class="comment">  \verbatim /xbeeconfig/at-command HV\endverbatim</span>
<a name="l01445"></a>01445 <span class="comment">  Check the XBee documentation for a complete list of commands the boards will respond to.</span>
<a name="l01446"></a>01446 <span class="comment"></span>
<a name="l01447"></a>01447 <span class="comment">  \par PAN ID</span>
<a name="l01448"></a>01448 <span class="comment">  The \b panid property corresponds to the Personal Area Network ID of the XBee module.  Valid ranges for the address are</span>
<a name="l01449"></a>01449 <span class="comment">  from 0 - 65535.  The default value is 13106.</span>
<a name="l01450"></a>01450 <span class="comment">  \par</span>
<a name="l01451"></a>01451 <span class="comment">  To set the PAN ID to 512, send the message</span>
<a name="l01452"></a>01452 <span class="comment">  \verbatim /xbeeconfig/panid 512\endverbatim</span>
<a name="l01453"></a>01453 <span class="comment">  To read the PAN ID, send the message</span>
<a name="l01454"></a>01454 <span class="comment">  \verbatim /xbeeconfig/panid \endverbatim</span>
<a name="l01455"></a>01455 <span class="comment">  </span>
<a name="l01456"></a>01456 <span class="comment">  \par Input/Output Pins</span>
<a name="l01457"></a>01457 <span class="comment">  There are several \b io properties that allow you to configure each of the 9 IO pins on the XBee module.  </span>
<a name="l01458"></a>01458 <span class="comment">  Pins can be set to one of 5 values:</span>
<a name="l01459"></a>01459 <span class="comment">  - \b 0 - disabled</span>
<a name="l01460"></a>01460 <span class="comment">  - \b 2 - analogin</span>
<a name="l01461"></a>01461 <span class="comment">  - \b 3 - digital in</span>
<a name="l01462"></a>01462 <span class="comment">  - \b 4 - digital out high</span>
<a name="l01463"></a>01463 <span class="comment">  - \b 5 - digital out low</span>
<a name="l01464"></a>01464 <span class="comment">  </span>
<a name="l01465"></a>01465 <span class="comment">  \par</span>
<a name="l01466"></a>01466 <span class="comment">  There are 9 IO pins on the XBee module, numbered 0 - 8. Send messages to them by specifying \b io + their number.  </span>
<a name="l01467"></a>01467 <span class="comment">  Pin 8 cannot be an analogin - it can only be a digital in or out.</span>
<a name="l01468"></a>01468 <span class="comment">  For example,  to set IO 0 to analogin, send the message</span>
<a name="l01469"></a>01469 <span class="comment">  \verbatim /xbeeconfig/io0 2\endverbatim</span>
<a name="l01470"></a>01470 <span class="comment">  To set IO 6 to a digital in, send the message</span>
<a name="l01471"></a>01471 <span class="comment">  \verbatim /xbeeconfig/io6 3\endverbatim</span>
<a name="l01472"></a>01472 <span class="comment">  To read the configuration of pin 5, send the message</span>
<a name="l01473"></a>01473 <span class="comment">  \verbatim /xbeeconfig/io5 \endverbatim</span>
<a name="l01474"></a>01474 <span class="comment">  </span>
<a name="l01475"></a>01475 <span class="comment">  \par Active</span>
<a name="l01476"></a>01476 <span class="comment">  The \b active property corresponds to the active state of the XBee system.</span>
<a name="l01477"></a>01477 <span class="comment">  If you're not seeing appropriate responses to your messages to the XBee system, </span>
<a name="l01478"></a>01478 <span class="comment">  check whether it's active by sending the message</span>
<a name="l01479"></a>01479 <span class="comment">  \verbatim /xbee/active \endverbatim</span>
<a name="l01480"></a>01480 <span class="comment">  \par</span>
<a name="l01481"></a>01481 <span class="comment">  You can set the active flag by sending</span>
<a name="l01482"></a>01482 <span class="comment">  \verbatim /xbee/active 1 \endverbatim</span>
<a name="l01483"></a>01483 <span class="comment">*/</span>
<a name="l01484"></a>01484 
<a name="l01485"></a>01485 <span class="keyword">static</span> <span class="keywordtype">char</span>* XBeeConfigOsc_Name = <span class="stringliteral">"xbeeconfig"</span>;
<a name="l01486"></a>01486 <span class="keyword">static</span> <span class="keywordtype">char</span>* XBeeConfigOsc_PropertyNames[] = { <span class="stringliteral">"active"</span>, <span class="stringliteral">"address"</span>, <span class="stringliteral">"panid"</span>, <span class="stringliteral">"channel"</span>, <span class="stringliteral">"samplerate"</span>, 
<a name="l01487"></a>01487                                                 <span class="stringliteral">"write"</span>, <span class="stringliteral">"io0"</span>, <span class="stringliteral">"io1"</span>, <span class="stringliteral">"io2"</span>, <span class="stringliteral">"io3"</span>, <span class="stringliteral">"io4"</span>, 
<a name="l01488"></a>01488                                                 <span class="stringliteral">"io5"</span>, <span class="stringliteral">"io6"</span>, <span class="stringliteral">"io7"</span>, <span class="stringliteral">"io8"</span>, <span class="stringliteral">"packet-mode"</span>, <span class="stringliteral">"at-command"</span>, 
<a name="l01489"></a>01489                                                 <span class="stringliteral">"get-message"</span>, 0 }; <span class="comment">// must have a trailing 0</span>
<a name="l01490"></a>01490 
<a name="l01491"></a>01491 <span class="keywordtype">int</span> XBeeConfigOsc_PropertySet( <span class="keywordtype">int</span> property, <span class="keywordtype">char</span>* typedata, <span class="keywordtype">int</span> channel );
<a name="l01492"></a>01492 <span class="keywordtype">int</span> XBeeConfigOsc_PropertyGet( <span class="keywordtype">int</span> property, <span class="keywordtype">int</span> channel );
<a name="l01493"></a>01493 
<a name="l01494"></a>01494 <span class="keyword">const</span> <span class="keywordtype">char</span>* XBeeConfigOsc_GetName( <span class="keywordtype">void</span> )
<a name="l01495"></a>01495 {
<a name="l01496"></a>01496   <span class="keywordflow">return</span> XBeeConfigOsc_Name;
<a name="l01497"></a>01497 }
<a name="l01498"></a>01498 
<a name="l01499"></a>01499 <span class="keywordtype">int</span> XBeeConfigOsc_PropertySet( <span class="keywordtype">int</span> property, <span class="keywordtype">char</span>* typedata, <span class="keywordtype">int</span> channel )
<a name="l01500"></a>01500 {
<a name="l01501"></a>01501   <span class="keywordtype">int</span> value = -1;
<a name="l01502"></a>01502   <span class="keywordtype">int</span> count;
<a name="l01503"></a>01503   <span class="keywordflow">switch</span> ( property )
<a name="l01504"></a>01504   {
<a name="l01505"></a>01505     <span class="keywordflow">case</span> 0: <span class="comment">// active</span>
<a name="l01506"></a>01506       count = Osc_ExtractData( typedata, <span class="stringliteral">"i"</span>, &amp;value );
<a name="l01507"></a>01507       <span class="keywordflow">if</span> ( count != 1 )
<a name="l01508"></a>01508         <span class="keywordflow">return</span> <a class="code" href="group___o_s_c_a_p_i.html#g852200f3d0612d90d73e9f233392ec2d" title="Send an error back via OSC from your subsystem.">Osc_SubsystemError</a>( channel, XBeeConfigOsc_Name, <span class="stringliteral">"Incorrect data - need an int"</span> );
<a name="l01509"></a>01509       <a class="code" href="group___x_bee.html#gf99a020a130eed99733b529b8cdb84a8" title="Controls the active state of the XBee subsystem.">XBee_SetActive</a>( value );
<a name="l01510"></a>01510       <span class="keywordflow">break</span>;
<a name="l01511"></a>01511     <span class="keywordflow">case</span> 1: <span class="comment">// address</span>
<a name="l01512"></a>01512       count = Osc_ExtractData( typedata, <span class="stringliteral">"i"</span>, &amp;value );
<a name="l01513"></a>01513       <span class="keywordflow">if</span> ( count != 1 )
<a name="l01514"></a>01514         <span class="keywordflow">return</span> <a class="code" href="group___o_s_c_a_p_i.html#g852200f3d0612d90d73e9f233392ec2d" title="Send an error back via OSC from your subsystem.">Osc_SubsystemError</a>( channel, XBeeConfigOsc_Name, <span class="stringliteral">"Incorrect data - need an int"</span> );
<a name="l01515"></a>01515       <a class="code" href="group___x_bee.html#gf6eb50d7c632ccadf35d89bebf30ba4a" title="Set this module&amp;#39;s address.">XBeeConfig_SetAddress</a>( value );
<a name="l01516"></a>01516       <span class="keywordflow">break</span>;
<a name="l01517"></a>01517     <span class="keywordflow">case</span> 2: <span class="comment">// panid</span>
<a name="l01518"></a>01518       count = Osc_ExtractData( typedata, <span class="stringliteral">"i"</span>, &amp;value );
<a name="l01519"></a>01519       <span class="keywordflow">if</span> ( count != 1 )
<a name="l01520"></a>01520         <span class="keywordflow">return</span> <a class="code" href="group___o_s_c_a_p_i.html#g852200f3d0612d90d73e9f233392ec2d" title="Send an error back via OSC from your subsystem.">Osc_SubsystemError</a>( channel, XBeeConfigOsc_Name, <span class="stringliteral">"Incorrect data - need an int"</span> );
<a name="l01521"></a>01521       <a class="code" href="group___x_bee.html#gbb8511090eee4d72a26bf55fb44bcd68" title="Set this PAN (Personal Area Network) ID.">XBeeConfig_SetPanID</a>( value );
<a name="l01522"></a>01522       <span class="keywordflow">break</span>;
<a name="l01523"></a>01523     <span class="keywordflow">case</span> 3: <span class="comment">// channel</span>
<a name="l01524"></a>01524       count = Osc_ExtractData( typedata, <span class="stringliteral">"i"</span>, &amp;value );
<a name="l01525"></a>01525       <span class="keywordflow">if</span> ( count != 1 )
<a name="l01526"></a>01526         <span class="keywordflow">return</span> <a class="code" href="group___o_s_c_a_p_i.html#g852200f3d0612d90d73e9f233392ec2d" title="Send an error back via OSC from your subsystem.">Osc_SubsystemError</a>( channel, XBeeConfigOsc_Name, <span class="stringliteral">"Incorrect data - need an int"</span> );
<a name="l01527"></a>01527       <a class="code" href="group___x_bee.html#gd5fd4ac5a68e76d7a16b3e685f05a4f8" title="Set the module&amp;#39;s channel.">XBeeConfig_SetChannel</a>( value );
<a name="l01528"></a>01528       <span class="keywordflow">break</span>;
<a name="l01529"></a>01529     <span class="keywordflow">case</span> 4: <span class="comment">// samplerate</span>
<a name="l01530"></a>01530       count = Osc_ExtractData( typedata, <span class="stringliteral">"i"</span>, &amp;value );
<a name="l01531"></a>01531       <span class="keywordflow">if</span> ( count != 1 )
<a name="l01532"></a>01532         <span class="keywordflow">return</span> <a class="code" href="group___o_s_c_a_p_i.html#g852200f3d0612d90d73e9f233392ec2d" title="Send an error back via OSC from your subsystem.">Osc_SubsystemError</a>( channel, XBeeConfigOsc_Name, <span class="stringliteral">"Incorrect data - need an int"</span> );
<a name="l01533"></a>01533       <a class="code" href="group___x_bee.html#g35826df514efda2aab33f86cf0e24f2e" title="Set the rate at which the module will sample its IO pins.">XBeeConfig_SetSampleRate</a>( value );
<a name="l01534"></a>01534       <span class="keywordflow">break</span>;
<a name="l01535"></a>01535     <span class="keywordflow">case</span> 5: <span class="comment">// write</span>
<a name="l01536"></a>01536       count = Osc_ExtractData( typedata, <span class="stringliteral">"i"</span>, &amp;value );
<a name="l01537"></a>01537       <span class="keywordflow">if</span> ( count != 1 )
<a name="l01538"></a>01538         <span class="keywordflow">return</span> <a class="code" href="group___o_s_c_a_p_i.html#g852200f3d0612d90d73e9f233392ec2d" title="Send an error back via OSC from your subsystem.">Osc_SubsystemError</a>( channel, XBeeConfigOsc_Name, <span class="stringliteral">"Incorrect data - need an int"</span> );
<a name="l01539"></a>01539       <a class="code" href="group___x_bee.html#g60564c155b8d6a6e73a9bfa54917ebd2" title="Save the configuration changes you&amp;#39;ve made on the module to memory.">XBeeConfig_WriteStateToMemory</a>( );
<a name="l01540"></a>01540       <span class="keywordflow">break</span>;
<a name="l01541"></a>01541     <span class="keywordflow">case</span> 6: <span class="comment">// io0</span>
<a name="l01542"></a>01542     <span class="keywordflow">case</span> 7: <span class="comment">// io1</span>
<a name="l01543"></a>01543     <span class="keywordflow">case</span> 8: <span class="comment">// io2</span>
<a name="l01544"></a>01544     <span class="keywordflow">case</span> 9: <span class="comment">// io3</span>
<a name="l01545"></a>01545     <span class="keywordflow">case</span> 10: <span class="comment">// io4</span>
<a name="l01546"></a>01546     <span class="keywordflow">case</span> 11: <span class="comment">// io5</span>
<a name="l01547"></a>01547     <span class="keywordflow">case</span> 12: <span class="comment">// io6</span>
<a name="l01548"></a>01548     <span class="keywordflow">case</span> 13: <span class="comment">// io7</span>
<a name="l01549"></a>01549     <span class="keywordflow">case</span> 14: <span class="comment">// io8</span>
<a name="l01550"></a>01550       count = Osc_ExtractData( typedata, <span class="stringliteral">"i"</span>, &amp;value );
<a name="l01551"></a>01551       <span class="keywordflow">if</span> ( count != 1 )
<a name="l01552"></a>01552         <span class="keywordflow">return</span> <a class="code" href="group___o_s_c_a_p_i.html#g852200f3d0612d90d73e9f233392ec2d" title="Send an error back via OSC from your subsystem.">Osc_SubsystemError</a>( channel, XBeeConfigOsc_Name, <span class="stringliteral">"Incorrect data - need an int"</span> );
<a name="l01553"></a>01553       <a class="code" href="group___x_bee.html#g2a1939254f9174e0ee2c33a4d2ff8ba3" title="Configure the IO settings on an XBee module.">XBeeConfig_SetIO</a>( property - 6, value );
<a name="l01554"></a>01554       <span class="keywordflow">break</span>;
<a name="l01555"></a>01555     <span class="keywordflow">case</span> 15: <span class="comment">// packet-mode</span>
<a name="l01556"></a>01556       count = Osc_ExtractData( typedata, <span class="stringliteral">"i"</span>, &amp;value );
<a name="l01557"></a>01557       <span class="keywordflow">if</span> ( count != 1 )
<a name="l01558"></a>01558         <span class="keywordflow">return</span> <a class="code" href="group___o_s_c_a_p_i.html#g852200f3d0612d90d73e9f233392ec2d" title="Send an error back via OSC from your subsystem.">Osc_SubsystemError</a>( channel, XBeeConfigOsc_Name, <span class="stringliteral">"Incorrect data - need an int"</span> );
<a name="l01559"></a>01559       <a class="code" href="group___x_bee.html#gb3abc9b61091749d5aa7a48e8aa35e18" title="Set a module into packet API mode.">XBeeConfig_SetPacketApiMode</a>( value );
<a name="l01560"></a>01560       <span class="keywordflow">break</span>;
<a name="l01561"></a>01561     <span class="keywordflow">case</span> 16: <span class="comment">// at-command</span>
<a name="l01562"></a>01562     {
<a name="l01563"></a>01563       <span class="keywordtype">char</span>* cmd;
<a name="l01564"></a>01564       count = Osc_ExtractData( typedata, <span class="stringliteral">"si"</span>, &amp;cmd, &amp;value );
<a name="l01565"></a>01565       <span class="keywordflow">if</span> ( count != 2 &amp;&amp; count != 1 )
<a name="l01566"></a>01566         <span class="keywordflow">return</span> <a class="code" href="group___o_s_c_a_p_i.html#g852200f3d0612d90d73e9f233392ec2d" title="Send an error back via OSC from your subsystem.">Osc_SubsystemError</a>( channel, XBeeConfigOsc_Name, <span class="stringliteral">"Incorrect data - need a string, optionally followed by an int"</span> );
<a name="l01567"></a>01567       
<a name="l01568"></a>01568       <span class="keywordtype">int</span> length = 0;
<a name="l01569"></a>01569       <span class="keywordflow">if</span>( count == 2 )
<a name="l01570"></a>01570       {
<a name="l01571"></a>01571         XBeePacket xbp;
<a name="l01572"></a>01572         uint8 params[4]; <span class="comment">// big endian - most significant bit first</span>
<a name="l01573"></a>01573         <a class="code" href="group___x_bee.html#gd357b57c2604013a69ec60e746318f89" title="Convert a 32-bit integer into a big endian array of 4 unsigned 8-bit integers.">XBee_IntToBigEndianArray</a>( value, params );
<a name="l01574"></a>01574         <a class="code" href="group___x_bee.html#g2c4ec9c048a04f7d7b46850377e51008" title="A convenience function for creating an AT command packet.">XBee_CreateATCommandPacket</a>( &amp;xbp, 0, cmd, params, length );
<a name="l01575"></a>01575         <a class="code" href="group___x_bee.html#g88dd9f12ff38f318e59ec8e8283a78d3" title="Send an XBee packet.">XBee_SendPacket</a>( &amp;xbp, length );
<a name="l01576"></a>01576       }
<a name="l01577"></a>01577       <span class="keywordflow">if</span>( count == 1 ) <span class="comment">// this is a little wonky, but this is actually a read.</span>
<a name="l01578"></a>01578         value = <a class="code" href="group___x_bee.html#g2f0a97c1a7ce219eb7ccd807e8a860e2" title="Query the address of the module.">XBeeConfig_RequestATResponse</a>( cmd );
<a name="l01579"></a>01579       <span class="keywordflow">break</span>;
<a name="l01580"></a>01580     }
<a name="l01581"></a>01581   }
<a name="l01582"></a>01582   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l01583"></a>01583 }
<a name="l01584"></a>01584 
<a name="l01585"></a>01585 <span class="keywordtype">int</span> XBeeConfigOsc_PropertyGet( <span class="keywordtype">int</span> property, <span class="keywordtype">int</span> channel )
<a name="l01586"></a>01586 {
<a name="l01587"></a>01587   <span class="keywordtype">char</span> address[ OSC_SCRATCH_SIZE ];
<a name="l01588"></a>01588   <span class="keywordflow">switch</span> ( property )
<a name="l01589"></a>01589   {
<a name="l01590"></a>01590     <span class="keywordflow">case</span> 0: <span class="comment">// active</span>
<a name="l01591"></a>01591     {
<a name="l01592"></a>01592       <span class="keywordtype">int</span> value = <a class="code" href="group___x_bee.html#gb9837489c49f82e3ca25f0da44c58a13" title="Read the active state of the XBee subsystem.">XBee_GetActive</a>( );
<a name="l01593"></a>01593       snprintf( address, OSC_SCRATCH_SIZE, <span class="stringliteral">"/%s/%s"</span>, XBeeConfigOsc_Name, XBeeConfigOsc_PropertyNames[ property ] ); 
<a name="l01594"></a>01594       Osc_CreateMessage( channel, address, <span class="stringliteral">",i"</span>, value );
<a name="l01595"></a>01595       <span class="keywordflow">break</span>;
<a name="l01596"></a>01596     }
<a name="l01597"></a>01597     <span class="keywordflow">case</span> 1: <span class="comment">// address</span>
<a name="l01598"></a>01598       <a class="code" href="group___x_bee.html#gcca92909fdf6d844af5da5a13b1d1303" title="Query the address of the module.">XBeeConfig_RequestAddress</a>( );
<a name="l01599"></a>01599       <span class="keywordflow">break</span>;
<a name="l01600"></a>01600     <span class="keywordflow">case</span> 2: <span class="comment">// panid</span>
<a name="l01601"></a>01601       <a class="code" href="group___x_bee.html#gd24a98ab72e3e7767982e59ba663c003" title="Query the PAN ID of the module.">XBeeConfig_RequestPanID</a>( );
<a name="l01602"></a>01602       <span class="keywordflow">break</span>;
<a name="l01603"></a>01603     <span class="keywordflow">case</span> 3: <span class="comment">// channel</span>
<a name="l01604"></a>01604       <a class="code" href="group___x_bee.html#ga893d7c545c7b39c0f6909be757751fd" title="Query the channel of the module.">XBeeConfig_RequestChannel</a>( );
<a name="l01605"></a>01605       <span class="keywordflow">break</span>;
<a name="l01606"></a>01606     <span class="keywordflow">case</span> 4: <span class="comment">// samplerate</span>
<a name="l01607"></a>01607       <a class="code" href="group___x_bee.html#g00ce3bb898806b5cf6bb257dfb24ca9c" title="Query the sample rate of the module.">XBeeConfig_RequestSampleRate</a>( );
<a name="l01608"></a>01608       <span class="keywordflow">break</span>;
<a name="l01609"></a>01609     <span class="keywordflow">case</span> 6: <span class="comment">// ios</span>
<a name="l01610"></a>01610     <span class="keywordflow">case</span> 7:
<a name="l01611"></a>01611     <span class="keywordflow">case</span> 8:
<a name="l01612"></a>01612     <span class="keywordflow">case</span> 9:
<a name="l01613"></a>01613     <span class="keywordflow">case</span> 10:
<a name="l01614"></a>01614     <span class="keywordflow">case</span> 11:
<a name="l01615"></a>01615     <span class="keywordflow">case</span> 12:
<a name="l01616"></a>01616     <span class="keywordflow">case</span> 13:
<a name="l01617"></a>01617     <span class="keywordflow">case</span> 14:
<a name="l01618"></a>01618       <a class="code" href="group___x_bee.html#g471f419a8be85dff56cb190ac1122df3" title="Query the configuration of an IO pin.">XBeeConfig_RequestIO</a>( property - 6 ); <span class="comment">// send the query</span>
<a name="l01619"></a>01619       <span class="keywordflow">break</span>;
<a name="l01620"></a>01620     <span class="keywordflow">case</span> 15: <span class="comment">// packet-mode</span>
<a name="l01621"></a>01621       <a class="code" href="group___x_bee.html#g5d8c12d4fba507727eded9aad78f5126" title="Query whether the module is in API mode.">XBeeConfig_RequestPacketApiMode</a>( ); <span class="comment">// send the query</span>
<a name="l01622"></a>01622       <span class="keywordflow">break</span>;
<a name="l01623"></a>01623     <span class="keywordflow">case</span> 17: <span class="comment">// get-message</span>
<a name="l01624"></a>01624     {
<a name="l01625"></a>01625       XBeePacket xbp;
<a name="l01626"></a>01626       <span class="keywordflow">if</span>( <a class="code" href="group___x_bee.html#gb6f350a2b5dea977c3ab6244e4984833" title="Receive an incoming XBee packet.">XBee_GetPacket</a>( &amp;xbp, XBEE_OSC_RX_TIMEOUT ) )
<a name="l01627"></a>01627         XBeeOsc_HandleNewPacket( XBee-&gt;currentPkt, channel );
<a name="l01628"></a>01628       <span class="keywordflow">break</span>;
<a name="l01629"></a>01629     }
<a name="l01630"></a>01630   }
<a name="l01631"></a>01631   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l01632"></a>01632 }
<a name="l01633"></a>01633 
<a name="l01634"></a>01634 <span class="keywordtype">int</span> XBeeConfigOsc_ReceiveMessage( <span class="keywordtype">int</span> channel, <span class="keywordtype">char</span>* message, <span class="keywordtype">int</span> length )
<a name="l01635"></a>01635 {
<a name="l01636"></a>01636   <a class="code" href="group___x_bee.html#gf99a020a130eed99733b529b8cdb84a8" title="Controls the active state of the XBee subsystem.">XBee_SetActive</a>( 1 );
<a name="l01637"></a>01637   <span class="keywordtype">int</span> status = <a class="code" href="group___o_s_c_a_p_i.html#gbb24f5e4a4c94eef2c321020941c45b3" title="Receive data for a subsystem that receives a variety of different data types.">Osc_GeneralReceiverHelper</a>( channel, message, length, 
<a name="l01638"></a>01638                                 XBeeConfigOsc_Name,
<a name="l01639"></a>01639                                 XBeeConfigOsc_PropertySet, XBeeConfigOsc_PropertyGet, 
<a name="l01640"></a>01640                                 XBeeConfigOsc_PropertyNames );
<a name="l01641"></a>01641 
<a name="l01642"></a>01642   <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l01643"></a>01643     <span class="keywordflow">return</span> Osc_SendError( channel, XBeeConfigOsc_Name, status );
<a name="l01644"></a>01644 
<a name="l01645"></a>01645   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l01646"></a>01646 }
<a name="l01647"></a>01647 
<a name="l01648"></a>01648 <span class="keywordtype">int</span> XBeeOsc_HandleNewPacket( XBeePacket* xbp, <span class="keywordtype">int</span> channel )
<a name="l01649"></a>01649 {
<a name="l01650"></a>01650   <span class="keywordtype">char</span> address[OSC_SCRATCH_SIZE];
<a name="l01651"></a>01651   <span class="keywordtype">int</span> retval = xbp-&gt;apiId;
<a name="l01652"></a>01652   <span class="keywordflow">switch</span>( xbp-&gt;apiId )
<a name="l01653"></a>01653   {
<a name="l01654"></a>01654     <span class="keywordflow">case</span> XBEE_RX16:
<a name="l01655"></a>01655     {
<a name="l01656"></a>01656       uint16 srcAddr;
<a name="l01657"></a>01657       uint8 sigStrength;
<a name="l01658"></a>01658       uint8 opts;
<a name="l01659"></a>01659       uint8* data;
<a name="l01660"></a>01660       uint8 datalen;
<a name="l01661"></a>01661       <span class="keywordflow">if</span>( <a class="code" href="group___x_bee.html#g90063926b2e0055e8476887828e8eaa4" title="Unpack the info from an incoming packet with a 16-bit address.">XBee_ReadRX16Packet</a>( xbp, &amp;srcAddr, &amp;sigStrength, &amp;opts, &amp;data, &amp;datalen ) )
<a name="l01662"></a>01662       {
<a name="l01663"></a>01663         snprintf( address, OSC_SCRATCH_SIZE, <span class="stringliteral">"/%s/rx16"</span>, XBeeOsc_Name );
<a name="l01664"></a>01664         Osc_CreateMessage( channel, address, <span class="stringliteral">",iiib"</span>, srcAddr, sigStrength, opts, data, datalen );
<a name="l01665"></a>01665       }
<a name="l01666"></a>01666       <span class="keywordflow">break</span>;
<a name="l01667"></a>01667     }
<a name="l01668"></a>01668     <span class="keywordflow">case</span> XBEE_RX64:
<a name="l01669"></a>01669     {
<a name="l01670"></a>01670       uint64 srcAddr;
<a name="l01671"></a>01671       uint8 sigStrength;
<a name="l01672"></a>01672       uint8 opts;
<a name="l01673"></a>01673       uint8* data;
<a name="l01674"></a>01674       uint8 datalen;
<a name="l01675"></a>01675       <span class="keywordflow">if</span>( <a class="code" href="group___x_bee.html#g366e1d12df63ac0bb6b4fbf380c9311c" title="Unpack the info from an incoming packet with a 64-bit address.">XBee_ReadRX64Packet</a>( xbp, &amp;srcAddr, &amp;sigStrength, &amp;opts, &amp;data, &amp;datalen ) )
<a name="l01676"></a>01676       {
<a name="l01677"></a>01677         snprintf( address, OSC_SCRATCH_SIZE, <span class="stringliteral">"/%s/rx64"</span>, XBeeOsc_Name );
<a name="l01678"></a>01678         Osc_CreateMessage( channel, address, <span class="stringliteral">",iiib"</span>, srcAddr, sigStrength, opts, data, datalen );
<a name="l01679"></a>01679       }
<a name="l01680"></a>01680       <span class="keywordflow">break</span>;
<a name="l01681"></a>01681     }
<a name="l01682"></a>01682     <span class="keywordflow">case</span> XBEE_IO16:
<a name="l01683"></a>01683     {
<a name="l01684"></a>01684       <span class="keywordtype">int</span> in[9];
<a name="l01685"></a>01685       uint16 src;
<a name="l01686"></a>01686       uint8 sigstrength;
<a name="l01687"></a>01687       <span class="keywordflow">if</span>( <a class="code" href="group___x_bee.html#gdc33b8d4803250488422484b2129f659" title="Unpack the info from an incoming IO packet with a 16-bit address.">XBee_ReadIO16Packet</a>( xbp, &amp;src, &amp;sigstrength, NULL, in ) )
<a name="l01688"></a>01688       {
<a name="l01689"></a>01689         snprintf( address, OSC_SCRATCH_SIZE, <span class="stringliteral">"/%s/io16"</span>, XBeeOsc_Name );
<a name="l01690"></a>01690         Osc_CreateMessage( channel, address, <span class="stringliteral">",iiiiiiiiiii"</span>, src, sigstrength, 
<a name="l01691"></a>01691                             in[0], in[1], in[2], in[3], in[4], in[5], in[6], in[7], in[8] );
<a name="l01692"></a>01692       }
<a name="l01693"></a>01693       <span class="keywordflow">break</span>;
<a name="l01694"></a>01694     }
<a name="l01695"></a>01695     <span class="keywordflow">case</span> XBEE_IO64:
<a name="l01696"></a>01696     {
<a name="l01697"></a>01697       <span class="keywordtype">int</span> in[9];
<a name="l01698"></a>01698       uint64 src;
<a name="l01699"></a>01699       uint8 sigstrength;
<a name="l01700"></a>01700       <span class="keywordflow">if</span>( <a class="code" href="group___x_bee.html#ga54eca4b48efbf8f8080203f9930c1cd" title="Unpack the info from an incoming IO packet with a 64-bit address.">XBee_ReadIO64Packet</a>( xbp, &amp;src, &amp;sigstrength, NULL, in ) )
<a name="l01701"></a>01701       {
<a name="l01702"></a>01702         snprintf( address, OSC_SCRATCH_SIZE, <span class="stringliteral">"/%s/io64"</span>, XBeeOsc_Name );
<a name="l01703"></a>01703         Osc_CreateMessage( channel, address, <span class="stringliteral">",iiiiiiiiiii"</span>, src, sigstrength, 
<a name="l01704"></a>01704                             in[0], in[1], in[2], in[3], in[4], in[5], in[6], in[7], in[8] );
<a name="l01705"></a>01705       }
<a name="l01706"></a>01706       <span class="keywordflow">break</span>;
<a name="l01707"></a>01707     }
<a name="l01708"></a>01708     <span class="keywordflow">case</span> XBEE_TXSTATUS:
<a name="l01709"></a>01709     {
<a name="l01710"></a>01710       uint8 frameID;
<a name="l01711"></a>01711       uint8 status;
<a name="l01712"></a>01712       <span class="keywordflow">if</span>( <a class="code" href="group___x_bee.html#ga9d737273a7ae0ab7240424b058fc639" title="Unpack the info from TX Status packet.">XBee_ReadTXStatusPacket</a>( xbp, &amp;frameID, &amp;status ) )
<a name="l01713"></a>01713       {
<a name="l01714"></a>01714         snprintf( address, OSC_SCRATCH_SIZE, <span class="stringliteral">"/%s/tx-status"</span>, XBeeOsc_Name );
<a name="l01715"></a>01715         <span class="keywordtype">char</span>* statusText = <span class="stringliteral">"No status received"</span>;
<a name="l01716"></a>01716         <span class="keywordflow">switch</span>( status )
<a name="l01717"></a>01717         {
<a name="l01718"></a>01718           <span class="keywordflow">case</span> 0:
<a name="l01719"></a>01719             statusText = <span class="stringliteral">"Success"</span>;
<a name="l01720"></a>01720             <span class="keywordflow">break</span>;
<a name="l01721"></a>01721           <span class="keywordflow">case</span> 1:
<a name="l01722"></a>01722             statusText = <span class="stringliteral">"No acknowledgement received"</span>;
<a name="l01723"></a>01723             <span class="keywordflow">break</span>;
<a name="l01724"></a>01724           <span class="keywordflow">case</span> 2:
<a name="l01725"></a>01725             statusText = <span class="stringliteral">"CCA Failure"</span>;
<a name="l01726"></a>01726             <span class="keywordflow">break</span>;
<a name="l01727"></a>01727           <span class="keywordflow">case</span> 3:
<a name="l01728"></a>01728             statusText = <span class="stringliteral">"Purged"</span>;
<a name="l01729"></a>01729             <span class="keywordflow">break</span>;
<a name="l01730"></a>01730         }
<a name="l01731"></a>01731         Osc_CreateMessage( channel, address, <span class="stringliteral">",is"</span>, frameID, statusText );
<a name="l01732"></a>01732       }
<a name="l01733"></a>01733       <span class="keywordflow">break</span>;
<a name="l01734"></a>01734     }
<a name="l01735"></a>01735     <span class="keywordflow">case</span> XBEE_ATCOMMANDRESPONSE:
<a name="l01736"></a>01736     {
<a name="l01737"></a>01737       uint8 frameID;
<a name="l01738"></a>01738       <span class="keywordtype">char</span>* command;
<a name="l01739"></a>01739       uint8 status;
<a name="l01740"></a>01740       uint8* dataPtr;
<a name="l01741"></a>01741       <span class="keywordtype">int</span> value = 0;
<a name="l01742"></a>01742       <span class="keywordflow">if</span>( <a class="code" href="group___x_bee.html#gfc6ae9ae046640c29bc29f18d01f9a04" title="Unpack the info from an incoming AT Command Response packet.">XBee_ReadAtResponsePacket</a>( xbp, &amp;frameID, &amp;command, &amp;status, &amp;dataPtr ) )
<a name="l01743"></a>01743       { <span class="comment">// grab 16-bit value</span>
<a name="l01744"></a>01744         <span class="keywordtype">int</span> i;
<a name="l01745"></a>01745         <span class="keywordflow">for</span>( i = 0; i &lt; 2; i++ )
<a name="l01746"></a>01746         {
<a name="l01747"></a>01747           value &lt;&lt;= 8;
<a name="l01748"></a>01748           value += *dataPtr++;
<a name="l01749"></a>01749         }
<a name="l01750"></a>01750         <span class="keywordtype">char</span> cmd[3];
<a name="l01751"></a>01751         cmd[0] = *command;
<a name="l01752"></a>01752         cmd[1] = *(command+1);
<a name="l01753"></a>01753         cmd[2] = <span class="charliteral">'\0'</span>;
<a name="l01754"></a>01754         <span class="keywordflow">if</span>( strcmp( cmd, <span class="stringliteral">"IR"</span> ) == 0 )
<a name="l01755"></a>01755         {
<a name="l01756"></a>01756           snprintf( address, OSC_SCRATCH_SIZE, <span class="stringliteral">"/%s/samplerate"</span>, XBeeConfigOsc_Name );
<a name="l01757"></a>01757           Osc_CreateMessage( channel, address, <span class="stringliteral">",i"</span>, value );
<a name="l01758"></a>01758         }
<a name="l01759"></a>01759         <span class="keywordflow">else</span> <span class="keywordflow">if</span>( strcmp( cmd, <span class="stringliteral">"MY"</span> ) == 0 )
<a name="l01760"></a>01760         {
<a name="l01761"></a>01761           snprintf( address, OSC_SCRATCH_SIZE, <span class="stringliteral">"/%s/address"</span>, XBeeConfigOsc_Name );
<a name="l01762"></a>01762           Osc_CreateMessage( channel, address, <span class="stringliteral">",i"</span>, value );
<a name="l01763"></a>01763         }
<a name="l01764"></a>01764         <span class="keywordflow">else</span> <span class="keywordflow">if</span>( strcmp( cmd, <span class="stringliteral">"CH"</span> ) == 0 )
<a name="l01765"></a>01765         {
<a name="l01766"></a>01766           snprintf( address, OSC_SCRATCH_SIZE, <span class="stringliteral">"/%s/channel"</span>, XBeeConfigOsc_Name );
<a name="l01767"></a>01767           Osc_CreateMessage( channel, address, <span class="stringliteral">",i"</span>, value );
<a name="l01768"></a>01768         }
<a name="l01769"></a>01769         <span class="keywordflow">else</span> <span class="keywordflow">if</span>( strcmp( cmd, <span class="stringliteral">"ID"</span> ) == 0 )
<a name="l01770"></a>01770         {
<a name="l01771"></a>01771           snprintf( address, OSC_SCRATCH_SIZE, <span class="stringliteral">"/%s/panid"</span>, XBeeConfigOsc_Name );
<a name="l01772"></a>01772           Osc_CreateMessage( channel, address, <span class="stringliteral">",i"</span>, value );
<a name="l01773"></a>01773         }
<a name="l01774"></a>01774         <span class="keywordflow">else</span>
<a name="l01775"></a>01775         {
<a name="l01776"></a>01776           snprintf( address, OSC_SCRATCH_SIZE, <span class="stringliteral">"/%s/at-command"</span>, XBeeConfigOsc_Name );
<a name="l01777"></a>01777           Osc_CreateMessage( channel, address, <span class="stringliteral">",si"</span>, cmd, value );
<a name="l01778"></a>01778         }
<a name="l01779"></a>01779       }
<a name="l01780"></a>01780       <span class="keywordflow">break</span>;
<a name="l01781"></a>01781     }
<a name="l01782"></a>01782   }
<a name="l01783"></a>01783   <a class="code" href="group___x_bee.html#g066e28d0aaafb23eb1171bcdb31e5c45" title="Initialize a packet before reading into it.">XBee_ResetPacket</a>( xbp );
<a name="l01784"></a>01784   <span class="keywordflow">return</span> retval;
<a name="l01785"></a>01785 }
<a name="l01786"></a>01786 
<a name="l01787"></a>01787 <span class="keywordtype">int</span> XBeeOsc_Async( <span class="keywordtype">int</span> channel )
<a name="l01788"></a>01788 {
<a name="l01789"></a>01789   <a class="code" href="group___x_bee.html#gf99a020a130eed99733b529b8cdb84a8" title="Controls the active state of the XBee subsystem.">XBee_SetActive</a>( 1 );
<a name="l01790"></a>01790   <span class="keywordtype">int</span> newMsgs = 0;
<a name="l01791"></a>01791 
<a name="l01792"></a>01792   <span class="keywordflow">if</span>( !XBee_GetAutoSend( <span class="keyword">false</span> ) )
<a name="l01793"></a>01793     <span class="keywordflow">return</span> newMsgs;
<a name="l01794"></a>01794 
<a name="l01795"></a>01795   <span class="keywordflow">while</span>( <a class="code" href="group___x_bee.html#gb6f350a2b5dea977c3ab6244e4984833" title="Receive an incoming XBee packet.">XBee_GetPacket</a>( XBee-&gt;currentPkt, 0 ) )
<a name="l01796"></a>01796   {
<a name="l01797"></a>01797     XBeeOsc_HandleNewPacket( XBee-&gt;currentPkt, channel );
<a name="l01798"></a>01798     newMsgs++;
<a name="l01799"></a>01799   }
<a name="l01800"></a>01800   <span class="keywordflow">return</span> newMsgs;
<a name="l01801"></a>01801 }
<a name="l01802"></a>01802 
<a name="l01803"></a>01803 <span class="preprocessor">#endif // OSC</span>
<a name="l01804"></a>01804 <span class="preprocessor"></span>
<a name="l01805"></a>01805 <span class="preprocessor">#endif // XBEE</span>
<a name="l01806"></a>01806 <span class="preprocessor"></span>
<a name="l01807"></a>01807 
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  <p class="footer">The Make Controller Kit is an open source project maintained by <a href="http://www.makingthings.com">MakingThings</a>.<br />
    MakingThings code is released under the <a href="http://www.apache.org/licenses/LICENSE-2.0.html" target="_blank">Apache 2.0 license</a>.<br />
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		This document was last updated on 5 Dec 2007.
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